(function (global, factory) {
  if (typeof define === "function" && define.amd) {
    define(["exports"], factory);
  } else if (typeof exports !== "undefined") {
    factory(exports);
  } else {
    var mod = {
      exports: {}
    };
    factory(mod.exports);
    global.OimoPhysics = mod.exports;
  }
})(typeof globalThis !== "undefined" ? globalThis : typeof self !== "undefined" ? self : this, function (_exports) {
  "use strict";

  Object.defineProperty(_exports, "__esModule", {
    value: true
  });
  _exports.oimo = void 0;

  function _get() { if (typeof Reflect !== "undefined" && Reflect.get) { _get = Reflect.get; } else { _get = function _get(target, property, receiver) { var base = _superPropBase(target, property); if (!base) return; var desc = Object.getOwnPropertyDescriptor(base, property); if (desc.get) { return desc.get.call(arguments.length < 3 ? target : receiver); } return desc.value; }; } return _get.apply(this, arguments); }

  function _superPropBase(object, property) { while (!Object.prototype.hasOwnProperty.call(object, property)) { object = _getPrototypeOf(object); if (object === null) break; } return object; }

  function _inherits(subClass, superClass) { if (typeof superClass !== "function" && superClass !== null) { throw new TypeError("Super expression must either be null or a function"); } Object.defineProperty(subClass, "prototype", { value: Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }), writable: false }); if (superClass) _setPrototypeOf(subClass, superClass); }

  function _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }

  function _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }

  function _possibleConstructorReturn(self, call) { if (call && (typeof call === "object" || typeof call === "function")) { return call; } else if (call !== void 0) { throw new TypeError("Derived constructors may only return object or undefined"); } return _assertThisInitialized(self); }

  function _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError("this hasn't been initialised - super() hasn't been called"); } return self; }

  function _isNativeReflectConstruct() { if (typeof Reflect === "undefined" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === "function") return true; try { Boolean.prototype.valueOf.call(Reflect.construct(Boolean, [], function () {})); return true; } catch (e) { return false; } }

  function _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }

  function _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError("Cannot call a class as a function"); } }

  function _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if ("value" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }

  function _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); Object.defineProperty(Constructor, "prototype", { writable: false }); return Constructor; }

  // Generated by Haxe 4.2.0
  var oimo = oimo || {};
  _exports.oimo = oimo;
  if (!oimo.collision) oimo.collision = {};
  if (!oimo.collision.broadphase) oimo.collision.broadphase = {};

  oimo.collision.broadphase.BroadPhase = /*#__PURE__*/function () {
    function oimo_collision_broadphase_BroadPhase(type) {
      _classCallCheck(this, oimo_collision_broadphase_BroadPhase);

      this._type = type;
      this._numProxies = 0;
      this._proxyList = null;
      this._proxyListLast = null;
      this._proxyPairList = null;
      this._incremental = false;
      this._testCount = 0;
      this._proxyPairPool = null;
      this._idCount = 0;
      this._convexSweep = new oimo.collision.broadphase._BroadPhase.ConvexSweepGeometry();
      this._aabb = new oimo.collision.broadphase._BroadPhase.AabbGeometry();
      this.identity = new oimo.common.Transform();
      this.zero = new oimo.common.Vec3();
      this.rayCastHit = new oimo.collision.geometry.RayCastHit();
    }

    _createClass(oimo_collision_broadphase_BroadPhase, [{
      key: "createProxy",
      value: function createProxy(userData, aabb) {
        return null;
      }
    }, {
      key: "destroyProxy",
      value: function destroyProxy(proxy) {}
    }, {
      key: "moveProxy",
      value: function moveProxy(proxy, aabb, displacement) {}
    }, {
      key: "isOverlapping",
      value: function isOverlapping(proxy1, proxy2) {
        if (proxy1._aabbMinX < proxy2._aabbMaxX && proxy1._aabbMaxX > proxy2._aabbMinX && proxy1._aabbMinY < proxy2._aabbMaxY && proxy1._aabbMaxY > proxy2._aabbMinY && proxy1._aabbMinZ < proxy2._aabbMaxZ) {
          return proxy1._aabbMaxZ > proxy2._aabbMinZ;
        } else {
          return false;
        }
      }
    }, {
      key: "collectPairs",
      value: function collectPairs() {}
    }, {
      key: "getProxyPairList",
      value: function getProxyPairList() {
        return this._proxyPairList;
      }
    }, {
      key: "isIncremental",
      value: function isIncremental() {
        return this._incremental;
      }
    }, {
      key: "getTestCount",
      value: function getTestCount() {
        return this._testCount;
      }
    }, {
      key: "rayCast",
      value: function rayCast(begin, end, callback) {}
    }, {
      key: "convexCast",
      value: function convexCast(convex, begin, translation, callback) {}
    }, {
      key: "aabbTest",
      value: function aabbTest(aabb, callback) {}
    }]);

    return oimo_collision_broadphase_BroadPhase;
  }();

  if (!oimo.collision.geometry) oimo.collision.geometry = {};

  oimo.collision.geometry.Geometry = /*#__PURE__*/function () {
    function oimo_collision_geometry_Geometry(type) {
      _classCallCheck(this, oimo_collision_geometry_Geometry);

      this._type = type;
      this._volume = 0;
    }

    _createClass(oimo_collision_geometry_Geometry, [{
      key: "_updateMass",
      value: function _updateMass() {}
    }, {
      key: "_computeAabb",
      value: function _computeAabb(aabb, tf) {}
    }, {
      key: "_rayCastLocal",
      value: function _rayCastLocal(beginX, beginY, beginZ, endX, endY, endZ, hit) {
        return false;
      }
    }, {
      key: "getType",
      value: function getType() {
        return this._type;
      }
    }, {
      key: "getVolume",
      value: function getVolume() {
        return this._volume;
      }
    }, {
      key: "rayCast",
      value: function rayCast(begin, end, transform, hit) {
        var beginLocalX;
        var beginLocalY;
        var beginLocalZ;
        var endLocalX;
        var endLocalY;
        var endLocalZ;
        beginLocalX = begin.x;
        beginLocalY = begin.y;
        beginLocalZ = begin.z;
        endLocalX = end.x;
        endLocalY = end.y;
        endLocalZ = end.z;
        beginLocalX -= transform._positionX;
        beginLocalY -= transform._positionY;
        beginLocalZ -= transform._positionZ;
        endLocalX -= transform._positionX;
        endLocalY -= transform._positionY;
        endLocalZ -= transform._positionZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = transform._rotation00 * beginLocalX + transform._rotation10 * beginLocalY + transform._rotation20 * beginLocalZ;
        __tmp__Y = transform._rotation01 * beginLocalX + transform._rotation11 * beginLocalY + transform._rotation21 * beginLocalZ;
        __tmp__Z = transform._rotation02 * beginLocalX + transform._rotation12 * beginLocalY + transform._rotation22 * beginLocalZ;
        beginLocalX = __tmp__X;
        beginLocalY = __tmp__Y;
        beginLocalZ = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = transform._rotation00 * endLocalX + transform._rotation10 * endLocalY + transform._rotation20 * endLocalZ;
        __tmp__Y1 = transform._rotation01 * endLocalX + transform._rotation11 * endLocalY + transform._rotation21 * endLocalZ;
        __tmp__Z1 = transform._rotation02 * endLocalX + transform._rotation12 * endLocalY + transform._rotation22 * endLocalZ;
        endLocalX = __tmp__X1;
        endLocalY = __tmp__Y1;
        endLocalZ = __tmp__Z1;

        if (this._rayCastLocal(beginLocalX, beginLocalY, beginLocalZ, endLocalX, endLocalY, endLocalZ, hit)) {
          var localPosX;
          var localPosY;
          var localPosZ;
          var localNormalX;
          var localNormalY;
          var localNormalZ;
          var v = hit.position;
          localPosX = v.x;
          localPosY = v.y;
          localPosZ = v.z;
          var v1 = hit.normal;
          localNormalX = v1.x;
          localNormalY = v1.y;
          localNormalZ = v1.z;

          var _tmp__X;

          var _tmp__Y;

          var _tmp__Z;

          _tmp__X = transform._rotation00 * localPosX + transform._rotation01 * localPosY + transform._rotation02 * localPosZ;
          _tmp__Y = transform._rotation10 * localPosX + transform._rotation11 * localPosY + transform._rotation12 * localPosZ;
          _tmp__Z = transform._rotation20 * localPosX + transform._rotation21 * localPosY + transform._rotation22 * localPosZ;
          localPosX = _tmp__X;
          localPosY = _tmp__Y;
          localPosZ = _tmp__Z;

          var _tmp__X2;

          var _tmp__Y2;

          var _tmp__Z2;

          _tmp__X2 = transform._rotation00 * localNormalX + transform._rotation01 * localNormalY + transform._rotation02 * localNormalZ;
          _tmp__Y2 = transform._rotation10 * localNormalX + transform._rotation11 * localNormalY + transform._rotation12 * localNormalZ;
          _tmp__Z2 = transform._rotation20 * localNormalX + transform._rotation21 * localNormalY + transform._rotation22 * localNormalZ;
          localNormalX = _tmp__X2;
          localNormalY = _tmp__Y2;
          localNormalZ = _tmp__Z2;
          localPosX += transform._positionX;
          localPosY += transform._positionY;
          localPosZ += transform._positionZ;
          var v2 = hit.position;
          v2.x = localPosX;
          v2.y = localPosY;
          v2.z = localPosZ;
          var v3 = hit.normal;
          v3.x = localNormalX;
          v3.y = localNormalY;
          v3.z = localNormalZ;
          return true;
        }

        return false;
      }
    }]);

    return oimo_collision_geometry_Geometry;
  }();

  oimo.collision.geometry.ConvexGeometry = /*#__PURE__*/function (_oimo$collision$geome) {
    _inherits(oimo_collision_geometry_ConvexGeometry, _oimo$collision$geome);

    var _super = _createSuper(oimo_collision_geometry_ConvexGeometry);

    function oimo_collision_geometry_ConvexGeometry(type) {
      var _this42;

      _classCallCheck(this, oimo_collision_geometry_ConvexGeometry);

      _this42 = _super.call(this, type);
      _this42._gjkMargin = oimo.common.Setting.defaultGJKMargin;
      _this42._useGjkRayCast = false;
      return _this42;
    }

    _createClass(oimo_collision_geometry_ConvexGeometry, [{
      key: "getGjkMergin",
      value: function getGjkMergin() {
        return this._gjkMargin;
      }
    }, {
      key: "setGjkMergin",
      value: function setGjkMergin(gjkMergin) {
        if (gjkMergin < 0) {
          gjkMergin = 0;
        }

        this._gjkMargin = gjkMergin;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {}
    }, {
      key: "rayCast",
      value: function rayCast(begin, end, transform, hit) {
        if (this._useGjkRayCast) {
          return oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance.rayCast(this, transform, begin, end, hit);
        } else {
          return _get(_getPrototypeOf(oimo_collision_geometry_ConvexGeometry.prototype), "rayCast", this).call(this, begin, end, transform, hit);
        }
      }
    }]);

    return oimo_collision_geometry_ConvexGeometry;
  }(oimo.collision.geometry.Geometry);

  if (!oimo.collision.broadphase._BroadPhase) oimo.collision.broadphase._BroadPhase = {};

  oimo.collision.broadphase._BroadPhase.ConvexSweepGeometry = /*#__PURE__*/function (_oimo$collision$geome2) {
    _inherits(oimo_collision_broadphase__$BroadPhase_ConvexSweepGeometry, _oimo$collision$geome2);

    var _super2 = _createSuper(oimo_collision_broadphase__$BroadPhase_ConvexSweepGeometry);

    function oimo_collision_broadphase__$BroadPhase_ConvexSweepGeometry() {
      _classCallCheck(this, oimo_collision_broadphase__$BroadPhase_ConvexSweepGeometry);

      return _super2.call(this, -1);
    }

    _createClass(oimo_collision_broadphase__$BroadPhase_ConvexSweepGeometry, [{
      key: "init",
      value: function init(c, transform, translation) {
        this.c = c;
        var trX;
        var trY;
        var trZ;
        trX = translation.x;
        trY = translation.y;
        trZ = translation.z;
        var localTrX;
        var localTrY;
        var localTrZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = transform._rotation00 * trX + transform._rotation10 * trY + transform._rotation20 * trZ;
        __tmp__Y = transform._rotation01 * trX + transform._rotation11 * trY + transform._rotation21 * trZ;
        __tmp__Z = transform._rotation02 * trX + transform._rotation12 * trY + transform._rotation22 * trZ;
        localTrX = __tmp__X;
        localTrY = __tmp__Y;
        localTrZ = __tmp__Z;
        this.localTranslation = new oimo.common.Vec3();
        var v = this.localTranslation;
        v.x = localTrX;
        v.y = localTrY;
        v.z = localTrZ;
        this._gjkMargin = c._gjkMargin;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        this.c.computeLocalSupportingVertex(dir, out);
        var v = this.localTranslation;

        if (dir.x * v.x + dir.y * v.y + dir.z * v.z > 0) {
          var _v = this.localTranslation;
          out.x += _v.x;
          out.y += _v.y;
          out.z += _v.z;
        }
      }
    }]);

    return oimo_collision_broadphase__$BroadPhase_ConvexSweepGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  oimo.collision.broadphase._BroadPhase.AabbGeometry = /*#__PURE__*/function (_oimo$collision$geome3) {
    _inherits(oimo_collision_broadphase__$BroadPhase_AabbGeometry, _oimo$collision$geome3);

    var _super3 = _createSuper(oimo_collision_broadphase__$BroadPhase_AabbGeometry);

    function oimo_collision_broadphase__$BroadPhase_AabbGeometry() {
      var _this43;

      _classCallCheck(this, oimo_collision_broadphase__$BroadPhase_AabbGeometry);

      _this43 = _super3.call(this, -1);
      _this43.min = new oimo.common.Vec3();
      _this43.max = new oimo.common.Vec3();
      return _this43;
    }

    _createClass(oimo_collision_broadphase__$BroadPhase_AabbGeometry, [{
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        out.x = dir.x > 0 ? this.max.x : this.min.x;
        out.y = dir.y > 0 ? this.max.y : this.min.y;
        out.z = dir.z > 0 ? this.max.z : this.min.z;
      }
    }]);

    return oimo_collision_broadphase__$BroadPhase_AabbGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  oimo.collision.broadphase.BroadPhaseProxyCallback = /*#__PURE__*/function () {
    function oimo_collision_broadphase_BroadPhaseProxyCallback() {
      _classCallCheck(this, oimo_collision_broadphase_BroadPhaseProxyCallback);
    }

    _createClass(oimo_collision_broadphase_BroadPhaseProxyCallback, [{
      key: "process",
      value: function process(proxy) {}
    }]);

    return oimo_collision_broadphase_BroadPhaseProxyCallback;
  }();

  oimo.collision.broadphase.BroadPhaseType = /*#__PURE__*/_createClass(function oimo_collision_broadphase_BroadPhaseType() {
    _classCallCheck(this, oimo_collision_broadphase_BroadPhaseType);
  });

  oimo.collision.broadphase.Proxy = /*#__PURE__*/function () {
    function oimo_collision_broadphase_Proxy(userData, id) {
      _classCallCheck(this, oimo_collision_broadphase_Proxy);

      this.userData = userData;
      this._id = id;
      this._prev = null;
      this._next = null;
      this._aabbMinX = 0;
      this._aabbMinY = 0;
      this._aabbMinZ = 0;
      this._aabbMaxX = 0;
      this._aabbMaxY = 0;
      this._aabbMaxZ = 0;
    }

    _createClass(oimo_collision_broadphase_Proxy, [{
      key: "getId",
      value: function getId() {
        return this._id;
      }
    }, {
      key: "getFatAabb",
      value: function getFatAabb() {
        var aabb = new oimo.collision.geometry.Aabb();
        aabb._minX = this._aabbMinX;
        aabb._minY = this._aabbMinY;
        aabb._minZ = this._aabbMinZ;
        aabb._maxX = this._aabbMaxX;
        aabb._maxY = this._aabbMaxY;
        aabb._maxZ = this._aabbMaxZ;
        return aabb;
      }
    }, {
      key: "getFatAabbTo",
      value: function getFatAabbTo(aabb) {
        aabb._minX = this._aabbMinX;
        aabb._minY = this._aabbMinY;
        aabb._minZ = this._aabbMinZ;
        aabb._maxX = this._aabbMaxX;
        aabb._maxY = this._aabbMaxY;
        aabb._maxZ = this._aabbMaxZ;
      }
    }]);

    return oimo_collision_broadphase_Proxy;
  }();

  oimo.collision.broadphase.ProxyPair = /*#__PURE__*/function () {
    function oimo_collision_broadphase_ProxyPair() {
      _classCallCheck(this, oimo_collision_broadphase_ProxyPair);

      this._p1 = null;
      this._p2 = null;
    }

    _createClass(oimo_collision_broadphase_ProxyPair, [{
      key: "getProxy1",
      value: function getProxy1() {
        return this._p1;
      }
    }, {
      key: "getProxy2",
      value: function getProxy2() {
        return this._p2;
      }
    }, {
      key: "getNext",
      value: function getNext() {
        return this._next;
      }
    }]);

    return oimo_collision_broadphase_ProxyPair;
  }();

  if (!oimo.collision.broadphase.bruteforce) oimo.collision.broadphase.bruteforce = {};

  oimo.collision.broadphase.bruteforce.BruteForceBroadPhase = /*#__PURE__*/function (_oimo$collision$broad) {
    _inherits(oimo_collision_broadphase_bruteforce_BruteForceBroadPhase, _oimo$collision$broad);

    var _super4 = _createSuper(oimo_collision_broadphase_bruteforce_BruteForceBroadPhase);

    function oimo_collision_broadphase_bruteforce_BruteForceBroadPhase() {
      var _this44;

      _classCallCheck(this, oimo_collision_broadphase_bruteforce_BruteForceBroadPhase);

      _this44 = _super4.call(this, 1);
      _this44._incremental = false;
      return _this44;
    }

    _createClass(oimo_collision_broadphase_bruteforce_BruteForceBroadPhase, [{
      key: "createProxy",
      value: function createProxy(userData, aabb) {
        var proxy = new oimo.collision.broadphase.Proxy(userData, this._idCount++);
        this._numProxies++;

        if (this._proxyList == null) {
          this._proxyList = proxy;
          this._proxyListLast = proxy;
        } else {
          this._proxyListLast._next = proxy;
          proxy._prev = this._proxyListLast;
          this._proxyListLast = proxy;
        }

        proxy._aabbMinX = aabb._minX;
        proxy._aabbMinY = aabb._minY;
        proxy._aabbMinZ = aabb._minZ;
        proxy._aabbMaxX = aabb._maxX;
        proxy._aabbMaxY = aabb._maxY;
        proxy._aabbMaxZ = aabb._maxZ;
        return proxy;
      }
    }, {
      key: "destroyProxy",
      value: function destroyProxy(proxy) {
        this._numProxies--;
        var prev = proxy._prev;
        var next = proxy._next;

        if (prev != null) {
          prev._next = next;
        }

        if (next != null) {
          next._prev = prev;
        }

        if (proxy == this._proxyList) {
          this._proxyList = this._proxyList._next;
        }

        if (proxy == this._proxyListLast) {
          this._proxyListLast = this._proxyListLast._prev;
        }

        proxy._next = null;
        proxy._prev = null;
        proxy.userData = null;
      }
    }, {
      key: "moveProxy",
      value: function moveProxy(proxy, aabb, dislacement) {
        proxy._aabbMinX = aabb._minX;
        proxy._aabbMinY = aabb._minY;
        proxy._aabbMinZ = aabb._minZ;
        proxy._aabbMaxX = aabb._maxX;
        proxy._aabbMaxY = aabb._maxY;
        proxy._aabbMaxZ = aabb._maxZ;
      }
    }, {
      key: "collectPairs",
      value: function collectPairs() {
        var p = this._proxyPairList;

        if (p != null) {
          while (true) {
            p._p1 = null;
            p._p2 = null;
            p = p._next;

            if (!(p != null)) {
              break;
            }
          }

          this._proxyPairList._next = this._proxyPairPool;
          this._proxyPairPool = this._proxyPairList;
          this._proxyPairList = null;
        }

        this._testCount = 0;
        var p1 = this._proxyList;

        while (p1 != null) {
          var n = p1._next;
          var p2 = p1._next;

          while (p2 != null) {
            var _n = p2._next;
            this._testCount++;

            if (p1._aabbMinX < p2._aabbMaxX && p1._aabbMaxX > p2._aabbMinX && p1._aabbMinY < p2._aabbMaxY && p1._aabbMaxY > p2._aabbMinY && p1._aabbMinZ < p2._aabbMaxZ && p1._aabbMaxZ > p2._aabbMinZ) {
              var first = this._proxyPairPool;

              if (first != null) {
                this._proxyPairPool = first._next;
                first._next = null;
              } else {
                first = new oimo.collision.broadphase.ProxyPair();
              }

              var pp = first;

              if (this._proxyPairList == null) {
                this._proxyPairList = pp;
              } else {
                pp._next = this._proxyPairList;
                this._proxyPairList = pp;
              }

              pp._p1 = p1;
              pp._p2 = p2;
            }

            p2 = _n;
          }

          p1 = n;
        }
      }
    }, {
      key: "rayCast",
      value: function rayCast(begin, end, callback) {
        var p1X;
        var p1Y;
        var p1Z;
        var p2X;
        var p2Y;
        var p2Z;
        p1X = begin.x;
        p1Y = begin.y;
        p1Z = begin.z;
        p2X = end.x;
        p2Y = end.y;
        p2Z = end.z;
        var p = this._proxyList;

        while (p != null) {
          var n = p._next;
          var x1 = p1X;
          var y1 = p1Y;
          var z1 = p1Z;
          var x2 = p2X;
          var y2 = p2Y;
          var z2 = p2Z;
          var pminx = p._aabbMinX;
          var pminy = p._aabbMinY;
          var pminz = p._aabbMinZ;
          var pmaxx = p._aabbMaxX;
          var pmaxy = p._aabbMaxY;
          var pmaxz = p._aabbMaxZ;
          var tmp = void 0;

          if (pminx > (x1 > x2 ? x1 : x2) || pmaxx < (x1 < x2 ? x1 : x2) || pminy > (y1 > y2 ? y1 : y2) || pmaxy < (y1 < y2 ? y1 : y2) || pminz > (z1 > z2 ? z1 : z2) || pmaxz < (z1 < z2 ? z1 : z2)) {
            tmp = false;
          } else {
            var dx = x2 - x1;
            var dy = y2 - y1;
            var dz = z2 - z1;
            var adx = dx < 0 ? -dx : dx;
            var ady = dy < 0 ? -dy : dy;
            var adz = dz < 0 ? -dz : dz;
            var pextx = (pmaxx - pminx) * 0.5;
            var pexty = (pmaxy - pminy) * 0.5;
            var pextz = (pmaxz - pminz) * 0.5;
            var cpx = x1 - (pmaxx + pminx) * 0.5;
            var cpy = y1 - (pmaxy + pminy) * 0.5;
            var cpz = z1 - (pmaxz + pminz) * 0.5;
            var tmp1 = void 0;
            var tmp2 = void 0;
            var x = cpy * dz - cpz * dy;

            if (!((x < 0 ? -x : x) - (pexty * adz + pextz * ady) > 0)) {
              var _x = cpz * dx - cpx * dz;

              tmp2 = (_x < 0 ? -_x : _x) - (pextz * adx + pextx * adz) > 0;
            } else {
              tmp2 = true;
            }

            if (!tmp2) {
              var _x2 = cpx * dy - cpy * dx;

              tmp1 = (_x2 < 0 ? -_x2 : _x2) - (pextx * ady + pexty * adx) > 0;
            } else {
              tmp1 = true;
            }

            tmp = tmp1 ? false : true;
          }

          if (tmp) {
            callback.process(p);
          }

          p = n;
        }
      }
    }, {
      key: "convexCast",
      value: function convexCast(convex, begin, translation, callback) {
        var p = this._proxyList;

        while (p != null) {
          var n = p._next;
          var v = this._aabb.min;
          v.x = p._aabbMinX;
          v.y = p._aabbMinY;
          v.z = p._aabbMinZ;
          var v1 = this._aabb.max;
          v1.x = p._aabbMaxX;
          v1.y = p._aabbMaxY;
          v1.z = p._aabbMaxZ;

          this._convexSweep.init(convex, begin, translation);

          var gjkEpa = oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;

          if (gjkEpa.computeClosestPointsImpl(this._convexSweep, this._aabb, begin, this.identity, null, false) == 0 && gjkEpa.distance <= 0) {
            callback.process(p);
          }

          p = n;
        }
      }
    }, {
      key: "aabbTest",
      value: function aabbTest(aabb, callback) {
        var p = this._proxyList;

        while (p != null) {
          var n = p._next;

          if (aabb._minX < p._aabbMaxX && aabb._maxX > p._aabbMinX && aabb._minY < p._aabbMaxY && aabb._maxY > p._aabbMinY && aabb._minZ < p._aabbMaxZ && aabb._maxZ > p._aabbMinZ) {
            callback.process(p);
          }

          p = n;
        }
      }
    }]);

    return oimo_collision_broadphase_bruteforce_BruteForceBroadPhase;
  }(oimo.collision.broadphase.BroadPhase);

  if (!oimo.collision.broadphase.bvh) oimo.collision.broadphase.bvh = {};

  oimo.collision.broadphase.bvh.BvhBroadPhase = /*#__PURE__*/function (_oimo$collision$broad2) {
    _inherits(oimo_collision_broadphase_bvh_BvhBroadPhase, _oimo$collision$broad2);

    var _super5 = _createSuper(oimo_collision_broadphase_bvh_BvhBroadPhase);

    function oimo_collision_broadphase_bvh_BvhBroadPhase() {
      var _this45;

      _classCallCheck(this, oimo_collision_broadphase_bvh_BvhBroadPhase);

      _this45 = _super5.call(this, 2);
      _this45._incremental = true;
      _this45._tree = new oimo.collision.broadphase.bvh.BvhTree();
      _this45.movedProxies = new Array(1024);
      _this45.numMovedProxies = 0;
      return _this45;
    }

    _createClass(oimo_collision_broadphase_bvh_BvhBroadPhase, [{
      key: "collide",
      value: function collide(n1, n2) {
        this._testCount++;
        var l1 = n1._height == 0;
        var l2 = n2._height == 0;

        if (n1 == n2) {
          if (l1) {
            return;
          }

          this.collide(n1._children[0], n2);
          this.collide(n1._children[1], n2);
          return;
        }

        if (!(n1._aabbMinX < n2._aabbMaxX && n1._aabbMaxX > n2._aabbMinX && n1._aabbMinY < n2._aabbMaxY && n1._aabbMaxY > n2._aabbMinY && n1._aabbMinZ < n2._aabbMaxZ && n1._aabbMaxZ > n2._aabbMinZ)) {
          return;
        }

        if (l1 && l2) {
          var first = this._proxyPairPool;

          if (first != null) {
            this._proxyPairPool = first._next;
            first._next = null;
          } else {
            first = new oimo.collision.broadphase.ProxyPair();
          }

          var pp = first;

          if (this._proxyPairList == null) {
            this._proxyPairList = pp;
          } else {
            pp._next = this._proxyPairList;
            this._proxyPairList = pp;
          }

          pp._p1 = n1._proxy;
          pp._p2 = n2._proxy;
          return;
        }

        if (l2 || n1._height > n2._height) {
          this.collide(n1._children[0], n2);
          this.collide(n1._children[1], n2);
        } else {
          this.collide(n2._children[0], n1);
          this.collide(n2._children[1], n1);
        }
      }
    }, {
      key: "rayCastRecursive",
      value: function rayCastRecursive(node, _p1X, _p1Y, _p1Z, _p2X, _p2Y, _p2Z, callback) {
        var x1 = _p1X;
        var y1 = _p1Y;
        var z1 = _p1Z;
        var x2 = _p2X;
        var y2 = _p2Y;
        var z2 = _p2Z;
        var pminx = node._aabbMinX;
        var pminy = node._aabbMinY;
        var pminz = node._aabbMinZ;
        var pmaxx = node._aabbMaxX;
        var pmaxy = node._aabbMaxY;
        var pmaxz = node._aabbMaxZ;
        var tmp;

        if (pminx > (x1 > x2 ? x1 : x2) || pmaxx < (x1 < x2 ? x1 : x2) || pminy > (y1 > y2 ? y1 : y2) || pmaxy < (y1 < y2 ? y1 : y2) || pminz > (z1 > z2 ? z1 : z2) || pmaxz < (z1 < z2 ? z1 : z2)) {
          tmp = false;
        } else {
          var dx = x2 - x1;
          var dy = y2 - y1;
          var dz = z2 - z1;
          var adx = dx < 0 ? -dx : dx;
          var ady = dy < 0 ? -dy : dy;
          var adz = dz < 0 ? -dz : dz;
          var pextx = (pmaxx - pminx) * 0.5;
          var pexty = (pmaxy - pminy) * 0.5;
          var pextz = (pmaxz - pminz) * 0.5;
          var cpx = x1 - (pmaxx + pminx) * 0.5;
          var cpy = y1 - (pmaxy + pminy) * 0.5;
          var cpz = z1 - (pmaxz + pminz) * 0.5;
          var tmp1;
          var tmp2;
          var x = cpy * dz - cpz * dy;

          if (!((x < 0 ? -x : x) - (pexty * adz + pextz * ady) > 0)) {
            var _x3 = cpz * dx - cpx * dz;

            tmp2 = (_x3 < 0 ? -_x3 : _x3) - (pextz * adx + pextx * adz) > 0;
          } else {
            tmp2 = true;
          }

          if (!tmp2) {
            var _x4 = cpx * dy - cpy * dx;

            tmp1 = (_x4 < 0 ? -_x4 : _x4) - (pextx * ady + pexty * adx) > 0;
          } else {
            tmp1 = true;
          }

          tmp = tmp1 ? false : true;
        }

        if (!tmp) {
          return;
        }

        if (node._height == 0) {
          callback.process(node._proxy);
          return;
        }

        this.rayCastRecursive(node._children[0], _p1X, _p1Y, _p1Z, _p2X, _p2Y, _p2Z, callback);
        this.rayCastRecursive(node._children[1], _p1X, _p1Y, _p1Z, _p2X, _p2Y, _p2Z, callback);
      }
    }, {
      key: "convexCastRecursive",
      value: function convexCastRecursive(node, convex, begin, translation, callback) {
        var v = this._aabb.min;
        v.x = node._aabbMinX;
        v.y = node._aabbMinY;
        v.z = node._aabbMinZ;
        var v1 = this._aabb.max;
        v1.x = node._aabbMaxX;
        v1.y = node._aabbMaxY;
        v1.z = node._aabbMaxZ;

        this._convexSweep.init(convex, begin, translation);

        var gjkEpa = oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;

        if (!(gjkEpa.computeClosestPointsImpl(this._convexSweep, this._aabb, begin, this.identity, null, false) == 0 && gjkEpa.distance <= 0)) {
          return;
        }

        if (node._height == 0) {
          callback.process(node._proxy);
          return;
        }

        this.convexCastRecursive(node._children[0], convex, begin, translation, callback);
        this.convexCastRecursive(node._children[1], convex, begin, translation, callback);
      }
    }, {
      key: "aabbTestRecursive",
      value: function aabbTestRecursive(node, aabb, callback) {
        if (!(node._aabbMinX < aabb._maxX && node._aabbMaxX > aabb._minX && node._aabbMinY < aabb._maxY && node._aabbMaxY > aabb._minY && node._aabbMinZ < aabb._maxZ && node._aabbMaxZ > aabb._minZ)) {
          return;
        }

        if (node._height == 0) {
          callback.process(node._proxy);
          return;
        }

        this.aabbTestRecursive(node._children[0], aabb, callback);
        this.aabbTestRecursive(node._children[1], aabb, callback);
      }
    }, {
      key: "createProxy",
      value: function createProxy(userData, aabb) {
        var p = new oimo.collision.broadphase.bvh.BvhProxy(userData, this._idCount++);
        this._numProxies++;

        if (this._proxyList == null) {
          this._proxyList = p;
          this._proxyListLast = p;
        } else {
          this._proxyListLast._next = p;
          p._prev = this._proxyListLast;
          this._proxyListLast = p;
        }

        p._aabbMinX = aabb._minX;
        p._aabbMinY = aabb._minY;
        p._aabbMinZ = aabb._minZ;
        p._aabbMaxX = aabb._maxX;
        p._aabbMaxY = aabb._maxY;
        p._aabbMaxZ = aabb._maxZ;
        var padding = oimo.common.Setting.bvhProxyPadding;
        p._aabbMinX -= padding;
        p._aabbMinY -= padding;
        p._aabbMinZ -= padding;
        p._aabbMaxX += padding;
        p._aabbMaxY += padding;
        p._aabbMaxZ += padding;
        var _this = this._tree;
        var first = _this._nodePool;

        if (first != null) {
          _this._nodePool = first._next;
          first._next = null;
        } else {
          first = new oimo.collision.broadphase.bvh.BvhNode();
        }

        var leaf = first;
        leaf._proxy = p;
        p._leaf = leaf;
        leaf._aabbMinX = p._aabbMinX;
        leaf._aabbMinY = p._aabbMinY;
        leaf._aabbMinZ = p._aabbMinZ;
        leaf._aabbMaxX = p._aabbMaxX;
        leaf._aabbMaxY = p._aabbMaxY;
        leaf._aabbMaxZ = p._aabbMaxZ;
        _this._numLeaves++;

        if (_this.leafList == null) {
          _this.leafList = leaf;
          _this.leafListLast = leaf;
        } else {
          _this.leafListLast._nextLeaf = leaf;
          leaf._prevLeaf = _this.leafListLast;
          _this.leafListLast = leaf;
        }

        if (_this._root == null) {
          _this._root = leaf;
        } else {
          var sibling = _this._root;

          while (sibling._height > 0) {
            var nextStep = _this._strategy._decideInsertion(sibling, leaf);

            if (nextStep == -1) {
              break;
            } else {
              sibling = sibling._children[nextStep];
            }
          }

          var parent = sibling._parent;
          var _first = _this._nodePool;

          if (_first != null) {
            _this._nodePool = _first._next;
            _first._next = null;
          } else {
            _first = new oimo.collision.broadphase.bvh.BvhNode();
          }

          var node = _first;

          if (parent == null) {
            _this._root = node;
          } else {
            var _index = sibling._childIndex;
            parent._children[_index] = node;
            node._parent = parent;
            node._childIndex = _index;
          }

          var index = sibling._childIndex;
          node._children[index] = sibling;
          sibling._parent = node;
          sibling._childIndex = index;
          var index1 = sibling._childIndex ^ 1;
          node._children[index1] = leaf;
          leaf._parent = node;
          leaf._childIndex = index1;

          while (node != null) {
            if (_this._strategy._balancingEnabled) {
              if (node._height >= 2) {
                var _p = node._parent;
                var l = node._children[0];
                var r = node._children[1];
                var balance = l._height - r._height;
                var nodeIndex = node._childIndex;

                if (balance > 1) {
                  var ll = l._children[0];
                  var lr = l._children[1];

                  if (ll._height > lr._height) {
                    l._children[1] = node;
                    node._parent = l;
                    node._childIndex = 1;
                    node._children[0] = lr;
                    lr._parent = node;
                    lr._childIndex = 0;
                    var _c = l._children[0];
                    var _c2 = l._children[1];
                    l._aabbMinX = _c._aabbMinX < _c2._aabbMinX ? _c._aabbMinX : _c2._aabbMinX;
                    l._aabbMinY = _c._aabbMinY < _c2._aabbMinY ? _c._aabbMinY : _c2._aabbMinY;
                    l._aabbMinZ = _c._aabbMinZ < _c2._aabbMinZ ? _c._aabbMinZ : _c2._aabbMinZ;
                    l._aabbMaxX = _c._aabbMaxX > _c2._aabbMaxX ? _c._aabbMaxX : _c2._aabbMaxX;
                    l._aabbMaxY = _c._aabbMaxY > _c2._aabbMaxY ? _c._aabbMaxY : _c2._aabbMaxY;
                    l._aabbMaxZ = _c._aabbMaxZ > _c2._aabbMaxZ ? _c._aabbMaxZ : _c2._aabbMaxZ;
                    var _h = l._children[0]._height;
                    var _h2 = l._children[1]._height;
                    l._height = (_h > _h2 ? _h : _h2) + 1;
                    var c11 = node._children[0];
                    var c21 = node._children[1];
                    node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
                    node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
                    node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
                    node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
                    node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
                    node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
                    var h11 = node._children[0]._height;
                    var h21 = node._children[1]._height;
                    node._height = (h11 > h21 ? h11 : h21) + 1;
                  } else {
                    l._children[0] = node;
                    node._parent = l;
                    node._childIndex = 0;
                    node._children[0] = ll;
                    ll._parent = node;
                    ll._childIndex = 0;
                    var _c3 = l._children[0];
                    var _c4 = l._children[1];
                    l._aabbMinX = _c3._aabbMinX < _c4._aabbMinX ? _c3._aabbMinX : _c4._aabbMinX;
                    l._aabbMinY = _c3._aabbMinY < _c4._aabbMinY ? _c3._aabbMinY : _c4._aabbMinY;
                    l._aabbMinZ = _c3._aabbMinZ < _c4._aabbMinZ ? _c3._aabbMinZ : _c4._aabbMinZ;
                    l._aabbMaxX = _c3._aabbMaxX > _c4._aabbMaxX ? _c3._aabbMaxX : _c4._aabbMaxX;
                    l._aabbMaxY = _c3._aabbMaxY > _c4._aabbMaxY ? _c3._aabbMaxY : _c4._aabbMaxY;
                    l._aabbMaxZ = _c3._aabbMaxZ > _c4._aabbMaxZ ? _c3._aabbMaxZ : _c4._aabbMaxZ;
                    var _h3 = l._children[0]._height;
                    var _h4 = l._children[1]._height;
                    l._height = (_h3 > _h4 ? _h3 : _h4) + 1;
                    var _c5 = node._children[0];
                    var _c6 = node._children[1];
                    node._aabbMinX = _c5._aabbMinX < _c6._aabbMinX ? _c5._aabbMinX : _c6._aabbMinX;
                    node._aabbMinY = _c5._aabbMinY < _c6._aabbMinY ? _c5._aabbMinY : _c6._aabbMinY;
                    node._aabbMinZ = _c5._aabbMinZ < _c6._aabbMinZ ? _c5._aabbMinZ : _c6._aabbMinZ;
                    node._aabbMaxX = _c5._aabbMaxX > _c6._aabbMaxX ? _c5._aabbMaxX : _c6._aabbMaxX;
                    node._aabbMaxY = _c5._aabbMaxY > _c6._aabbMaxY ? _c5._aabbMaxY : _c6._aabbMaxY;
                    node._aabbMaxZ = _c5._aabbMaxZ > _c6._aabbMaxZ ? _c5._aabbMaxZ : _c6._aabbMaxZ;
                    var _h5 = node._children[0]._height;
                    var _h6 = node._children[1]._height;
                    node._height = (_h5 > _h6 ? _h5 : _h6) + 1;
                  }

                  if (_p != null) {
                    _p._children[nodeIndex] = l;
                    l._parent = _p;
                    l._childIndex = nodeIndex;
                  } else {
                    _this._root = l;
                    l._parent = null;
                  }

                  node = l;
                } else if (balance < -1) {
                  var rl = r._children[0];
                  var rr = r._children[1];

                  if (rl._height > rr._height) {
                    r._children[1] = node;
                    node._parent = r;
                    node._childIndex = 1;
                    node._children[1] = rr;
                    rr._parent = node;
                    rr._childIndex = 1;
                    var _c7 = r._children[0];
                    var _c8 = r._children[1];
                    r._aabbMinX = _c7._aabbMinX < _c8._aabbMinX ? _c7._aabbMinX : _c8._aabbMinX;
                    r._aabbMinY = _c7._aabbMinY < _c8._aabbMinY ? _c7._aabbMinY : _c8._aabbMinY;
                    r._aabbMinZ = _c7._aabbMinZ < _c8._aabbMinZ ? _c7._aabbMinZ : _c8._aabbMinZ;
                    r._aabbMaxX = _c7._aabbMaxX > _c8._aabbMaxX ? _c7._aabbMaxX : _c8._aabbMaxX;
                    r._aabbMaxY = _c7._aabbMaxY > _c8._aabbMaxY ? _c7._aabbMaxY : _c8._aabbMaxY;
                    r._aabbMaxZ = _c7._aabbMaxZ > _c8._aabbMaxZ ? _c7._aabbMaxZ : _c8._aabbMaxZ;
                    var _h7 = r._children[0]._height;
                    var _h8 = r._children[1]._height;
                    r._height = (_h7 > _h8 ? _h7 : _h8) + 1;
                    var _c9 = node._children[0];
                    var _c10 = node._children[1];
                    node._aabbMinX = _c9._aabbMinX < _c10._aabbMinX ? _c9._aabbMinX : _c10._aabbMinX;
                    node._aabbMinY = _c9._aabbMinY < _c10._aabbMinY ? _c9._aabbMinY : _c10._aabbMinY;
                    node._aabbMinZ = _c9._aabbMinZ < _c10._aabbMinZ ? _c9._aabbMinZ : _c10._aabbMinZ;
                    node._aabbMaxX = _c9._aabbMaxX > _c10._aabbMaxX ? _c9._aabbMaxX : _c10._aabbMaxX;
                    node._aabbMaxY = _c9._aabbMaxY > _c10._aabbMaxY ? _c9._aabbMaxY : _c10._aabbMaxY;
                    node._aabbMaxZ = _c9._aabbMaxZ > _c10._aabbMaxZ ? _c9._aabbMaxZ : _c10._aabbMaxZ;
                    var _h9 = node._children[0]._height;
                    var _h10 = node._children[1]._height;
                    node._height = (_h9 > _h10 ? _h9 : _h10) + 1;
                  } else {
                    r._children[0] = node;
                    node._parent = r;
                    node._childIndex = 0;
                    node._children[1] = rl;
                    rl._parent = node;
                    rl._childIndex = 1;
                    var _c11 = r._children[0];
                    var _c12 = r._children[1];
                    r._aabbMinX = _c11._aabbMinX < _c12._aabbMinX ? _c11._aabbMinX : _c12._aabbMinX;
                    r._aabbMinY = _c11._aabbMinY < _c12._aabbMinY ? _c11._aabbMinY : _c12._aabbMinY;
                    r._aabbMinZ = _c11._aabbMinZ < _c12._aabbMinZ ? _c11._aabbMinZ : _c12._aabbMinZ;
                    r._aabbMaxX = _c11._aabbMaxX > _c12._aabbMaxX ? _c11._aabbMaxX : _c12._aabbMaxX;
                    r._aabbMaxY = _c11._aabbMaxY > _c12._aabbMaxY ? _c11._aabbMaxY : _c12._aabbMaxY;
                    r._aabbMaxZ = _c11._aabbMaxZ > _c12._aabbMaxZ ? _c11._aabbMaxZ : _c12._aabbMaxZ;
                    var _h11 = r._children[0]._height;
                    var _h12 = r._children[1]._height;
                    r._height = (_h11 > _h12 ? _h11 : _h12) + 1;
                    var _c13 = node._children[0];
                    var _c14 = node._children[1];
                    node._aabbMinX = _c13._aabbMinX < _c14._aabbMinX ? _c13._aabbMinX : _c14._aabbMinX;
                    node._aabbMinY = _c13._aabbMinY < _c14._aabbMinY ? _c13._aabbMinY : _c14._aabbMinY;
                    node._aabbMinZ = _c13._aabbMinZ < _c14._aabbMinZ ? _c13._aabbMinZ : _c14._aabbMinZ;
                    node._aabbMaxX = _c13._aabbMaxX > _c14._aabbMaxX ? _c13._aabbMaxX : _c14._aabbMaxX;
                    node._aabbMaxY = _c13._aabbMaxY > _c14._aabbMaxY ? _c13._aabbMaxY : _c14._aabbMaxY;
                    node._aabbMaxZ = _c13._aabbMaxZ > _c14._aabbMaxZ ? _c13._aabbMaxZ : _c14._aabbMaxZ;
                    var _h13 = node._children[0]._height;
                    var _h14 = node._children[1]._height;
                    node._height = (_h13 > _h14 ? _h13 : _h14) + 1;
                  }

                  if (_p != null) {
                    _p._children[nodeIndex] = r;
                    r._parent = _p;
                    r._childIndex = nodeIndex;
                  } else {
                    _this._root = r;
                    r._parent = null;
                  }

                  node = r;
                }
              }
            }

            var h1 = node._children[0]._height;
            var h2 = node._children[1]._height;
            node._height = (h1 > h2 ? h1 : h2) + 1;
            var c1 = node._children[0];
            var c2 = node._children[1];
            node._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
            node._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
            node._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
            node._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
            node._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
            node._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
            node = node._parent;
          }
        }

        if (!p._moved) {
          p._moved = true;

          if (this.movedProxies.length == this.numMovedProxies) {
            var newArray = new Array(this.numMovedProxies << 1);
            var _g = 0;
            var _g1 = this.numMovedProxies;

            while (_g < _g1) {
              var i = _g++;
              newArray[i] = this.movedProxies[i];
              this.movedProxies[i] = null;
            }

            this.movedProxies = newArray;
          }

          this.movedProxies[this.numMovedProxies++] = p;
        }

        return p;
      }
    }, {
      key: "destroyProxy",
      value: function destroyProxy(proxy) {
        this._numProxies--;
        var prev = proxy._prev;
        var next = proxy._next;

        if (prev != null) {
          prev._next = next;
        }

        if (next != null) {
          next._prev = prev;
        }

        if (proxy == this._proxyList) {
          this._proxyList = this._proxyList._next;
        }

        if (proxy == this._proxyListLast) {
          this._proxyListLast = this._proxyListLast._prev;
        }

        proxy._next = null;
        proxy._prev = null;
        var bvhProxy = proxy;
        var _this = this._tree;
        var leaf = bvhProxy._leaf;
        _this._numLeaves--;
        var prev1 = leaf._prevLeaf;
        var next1 = leaf._nextLeaf;

        if (prev1 != null) {
          prev1._nextLeaf = next1;
        }

        if (next1 != null) {
          next1._prevLeaf = prev1;
        }

        if (leaf == _this.leafList) {
          _this.leafList = _this.leafList._nextLeaf;
        }

        if (leaf == _this.leafListLast) {
          _this.leafListLast = _this.leafListLast._prevLeaf;
        }

        leaf._nextLeaf = null;
        leaf._prevLeaf = null;

        if (_this._root == leaf) {
          _this._root = null;
        } else {
          var parent = leaf._parent;
          var sibling = parent._children[leaf._childIndex ^ 1];
          var grandParent = parent._parent;

          if (grandParent == null) {
            sibling._parent = null;
            sibling._childIndex = 0;
            _this._root = sibling;
            parent._next = null;
            parent._childIndex = 0;
            parent._children[0] = null;
            parent._children[1] = null;
            parent._childIndex = 0;
            parent._parent = null;
            parent._height = 0;
            parent._proxy = null;
            parent._next = _this._nodePool;
            _this._nodePool = parent;
          } else {
            sibling._parent = grandParent;
            var index = parent._childIndex;
            grandParent._children[index] = sibling;
            sibling._parent = grandParent;
            sibling._childIndex = index;
            parent._next = null;
            parent._childIndex = 0;
            parent._children[0] = null;
            parent._children[1] = null;
            parent._childIndex = 0;
            parent._parent = null;
            parent._height = 0;
            parent._proxy = null;
            parent._next = _this._nodePool;
            _this._nodePool = parent;
            var node = grandParent;

            while (node != null) {
              if (_this._strategy._balancingEnabled) {
                if (node._height >= 2) {
                  var p = node._parent;
                  var l = node._children[0];
                  var r = node._children[1];
                  var balance = l._height - r._height;
                  var nodeIndex = node._childIndex;

                  if (balance > 1) {
                    var ll = l._children[0];
                    var lr = l._children[1];

                    if (ll._height > lr._height) {
                      l._children[1] = node;
                      node._parent = l;
                      node._childIndex = 1;
                      node._children[0] = lr;
                      lr._parent = node;
                      lr._childIndex = 0;
                      var _c15 = l._children[0];
                      var _c16 = l._children[1];
                      l._aabbMinX = _c15._aabbMinX < _c16._aabbMinX ? _c15._aabbMinX : _c16._aabbMinX;
                      l._aabbMinY = _c15._aabbMinY < _c16._aabbMinY ? _c15._aabbMinY : _c16._aabbMinY;
                      l._aabbMinZ = _c15._aabbMinZ < _c16._aabbMinZ ? _c15._aabbMinZ : _c16._aabbMinZ;
                      l._aabbMaxX = _c15._aabbMaxX > _c16._aabbMaxX ? _c15._aabbMaxX : _c16._aabbMaxX;
                      l._aabbMaxY = _c15._aabbMaxY > _c16._aabbMaxY ? _c15._aabbMaxY : _c16._aabbMaxY;
                      l._aabbMaxZ = _c15._aabbMaxZ > _c16._aabbMaxZ ? _c15._aabbMaxZ : _c16._aabbMaxZ;
                      var _h15 = l._children[0]._height;
                      var _h16 = l._children[1]._height;
                      l._height = (_h15 > _h16 ? _h15 : _h16) + 1;
                      var c11 = node._children[0];
                      var c21 = node._children[1];
                      node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
                      node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
                      node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
                      node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
                      node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
                      node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
                      var h11 = node._children[0]._height;
                      var h21 = node._children[1]._height;
                      node._height = (h11 > h21 ? h11 : h21) + 1;
                    } else {
                      l._children[0] = node;
                      node._parent = l;
                      node._childIndex = 0;
                      node._children[0] = ll;
                      ll._parent = node;
                      ll._childIndex = 0;
                      var _c17 = l._children[0];
                      var _c18 = l._children[1];
                      l._aabbMinX = _c17._aabbMinX < _c18._aabbMinX ? _c17._aabbMinX : _c18._aabbMinX;
                      l._aabbMinY = _c17._aabbMinY < _c18._aabbMinY ? _c17._aabbMinY : _c18._aabbMinY;
                      l._aabbMinZ = _c17._aabbMinZ < _c18._aabbMinZ ? _c17._aabbMinZ : _c18._aabbMinZ;
                      l._aabbMaxX = _c17._aabbMaxX > _c18._aabbMaxX ? _c17._aabbMaxX : _c18._aabbMaxX;
                      l._aabbMaxY = _c17._aabbMaxY > _c18._aabbMaxY ? _c17._aabbMaxY : _c18._aabbMaxY;
                      l._aabbMaxZ = _c17._aabbMaxZ > _c18._aabbMaxZ ? _c17._aabbMaxZ : _c18._aabbMaxZ;
                      var _h17 = l._children[0]._height;
                      var _h18 = l._children[1]._height;
                      l._height = (_h17 > _h18 ? _h17 : _h18) + 1;
                      var _c19 = node._children[0];
                      var _c20 = node._children[1];
                      node._aabbMinX = _c19._aabbMinX < _c20._aabbMinX ? _c19._aabbMinX : _c20._aabbMinX;
                      node._aabbMinY = _c19._aabbMinY < _c20._aabbMinY ? _c19._aabbMinY : _c20._aabbMinY;
                      node._aabbMinZ = _c19._aabbMinZ < _c20._aabbMinZ ? _c19._aabbMinZ : _c20._aabbMinZ;
                      node._aabbMaxX = _c19._aabbMaxX > _c20._aabbMaxX ? _c19._aabbMaxX : _c20._aabbMaxX;
                      node._aabbMaxY = _c19._aabbMaxY > _c20._aabbMaxY ? _c19._aabbMaxY : _c20._aabbMaxY;
                      node._aabbMaxZ = _c19._aabbMaxZ > _c20._aabbMaxZ ? _c19._aabbMaxZ : _c20._aabbMaxZ;
                      var _h19 = node._children[0]._height;
                      var _h20 = node._children[1]._height;
                      node._height = (_h19 > _h20 ? _h19 : _h20) + 1;
                    }

                    if (p != null) {
                      p._children[nodeIndex] = l;
                      l._parent = p;
                      l._childIndex = nodeIndex;
                    } else {
                      _this._root = l;
                      l._parent = null;
                    }

                    node = l;
                  } else if (balance < -1) {
                    var rl = r._children[0];
                    var rr = r._children[1];

                    if (rl._height > rr._height) {
                      r._children[1] = node;
                      node._parent = r;
                      node._childIndex = 1;
                      node._children[1] = rr;
                      rr._parent = node;
                      rr._childIndex = 1;
                      var _c21 = r._children[0];
                      var _c22 = r._children[1];
                      r._aabbMinX = _c21._aabbMinX < _c22._aabbMinX ? _c21._aabbMinX : _c22._aabbMinX;
                      r._aabbMinY = _c21._aabbMinY < _c22._aabbMinY ? _c21._aabbMinY : _c22._aabbMinY;
                      r._aabbMinZ = _c21._aabbMinZ < _c22._aabbMinZ ? _c21._aabbMinZ : _c22._aabbMinZ;
                      r._aabbMaxX = _c21._aabbMaxX > _c22._aabbMaxX ? _c21._aabbMaxX : _c22._aabbMaxX;
                      r._aabbMaxY = _c21._aabbMaxY > _c22._aabbMaxY ? _c21._aabbMaxY : _c22._aabbMaxY;
                      r._aabbMaxZ = _c21._aabbMaxZ > _c22._aabbMaxZ ? _c21._aabbMaxZ : _c22._aabbMaxZ;
                      var _h21 = r._children[0]._height;
                      var _h22 = r._children[1]._height;
                      r._height = (_h21 > _h22 ? _h21 : _h22) + 1;
                      var _c23 = node._children[0];
                      var _c24 = node._children[1];
                      node._aabbMinX = _c23._aabbMinX < _c24._aabbMinX ? _c23._aabbMinX : _c24._aabbMinX;
                      node._aabbMinY = _c23._aabbMinY < _c24._aabbMinY ? _c23._aabbMinY : _c24._aabbMinY;
                      node._aabbMinZ = _c23._aabbMinZ < _c24._aabbMinZ ? _c23._aabbMinZ : _c24._aabbMinZ;
                      node._aabbMaxX = _c23._aabbMaxX > _c24._aabbMaxX ? _c23._aabbMaxX : _c24._aabbMaxX;
                      node._aabbMaxY = _c23._aabbMaxY > _c24._aabbMaxY ? _c23._aabbMaxY : _c24._aabbMaxY;
                      node._aabbMaxZ = _c23._aabbMaxZ > _c24._aabbMaxZ ? _c23._aabbMaxZ : _c24._aabbMaxZ;
                      var _h23 = node._children[0]._height;
                      var _h24 = node._children[1]._height;
                      node._height = (_h23 > _h24 ? _h23 : _h24) + 1;
                    } else {
                      r._children[0] = node;
                      node._parent = r;
                      node._childIndex = 0;
                      node._children[1] = rl;
                      rl._parent = node;
                      rl._childIndex = 1;
                      var _c25 = r._children[0];
                      var _c26 = r._children[1];
                      r._aabbMinX = _c25._aabbMinX < _c26._aabbMinX ? _c25._aabbMinX : _c26._aabbMinX;
                      r._aabbMinY = _c25._aabbMinY < _c26._aabbMinY ? _c25._aabbMinY : _c26._aabbMinY;
                      r._aabbMinZ = _c25._aabbMinZ < _c26._aabbMinZ ? _c25._aabbMinZ : _c26._aabbMinZ;
                      r._aabbMaxX = _c25._aabbMaxX > _c26._aabbMaxX ? _c25._aabbMaxX : _c26._aabbMaxX;
                      r._aabbMaxY = _c25._aabbMaxY > _c26._aabbMaxY ? _c25._aabbMaxY : _c26._aabbMaxY;
                      r._aabbMaxZ = _c25._aabbMaxZ > _c26._aabbMaxZ ? _c25._aabbMaxZ : _c26._aabbMaxZ;
                      var _h25 = r._children[0]._height;
                      var _h26 = r._children[1]._height;
                      r._height = (_h25 > _h26 ? _h25 : _h26) + 1;
                      var _c27 = node._children[0];
                      var _c28 = node._children[1];
                      node._aabbMinX = _c27._aabbMinX < _c28._aabbMinX ? _c27._aabbMinX : _c28._aabbMinX;
                      node._aabbMinY = _c27._aabbMinY < _c28._aabbMinY ? _c27._aabbMinY : _c28._aabbMinY;
                      node._aabbMinZ = _c27._aabbMinZ < _c28._aabbMinZ ? _c27._aabbMinZ : _c28._aabbMinZ;
                      node._aabbMaxX = _c27._aabbMaxX > _c28._aabbMaxX ? _c27._aabbMaxX : _c28._aabbMaxX;
                      node._aabbMaxY = _c27._aabbMaxY > _c28._aabbMaxY ? _c27._aabbMaxY : _c28._aabbMaxY;
                      node._aabbMaxZ = _c27._aabbMaxZ > _c28._aabbMaxZ ? _c27._aabbMaxZ : _c28._aabbMaxZ;
                      var _h27 = node._children[0]._height;
                      var _h28 = node._children[1]._height;
                      node._height = (_h27 > _h28 ? _h27 : _h28) + 1;
                    }

                    if (p != null) {
                      p._children[nodeIndex] = r;
                      r._parent = p;
                      r._childIndex = nodeIndex;
                    } else {
                      _this._root = r;
                      r._parent = null;
                    }

                    node = r;
                  }
                }
              }

              var h1 = node._children[0]._height;
              var h2 = node._children[1]._height;
              node._height = (h1 > h2 ? h1 : h2) + 1;
              var c1 = node._children[0];
              var c2 = node._children[1];
              node._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
              node._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
              node._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
              node._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
              node._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
              node._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
              node = node._parent;
            }
          }
        }

        bvhProxy._leaf = null;
        leaf._next = null;
        leaf._childIndex = 0;
        leaf._children[0] = null;
        leaf._children[1] = null;
        leaf._childIndex = 0;
        leaf._parent = null;
        leaf._height = 0;
        leaf._proxy = null;
        leaf._next = _this._nodePool;
        _this._nodePool = leaf;
        bvhProxy.userData = null;
        bvhProxy._next = null;
        bvhProxy._prev = null;

        if (bvhProxy._moved) {
          bvhProxy._moved = false;
        }
      }
    }, {
      key: "moveProxy",
      value: function moveProxy(proxy, aabb, displacement) {
        var p = proxy;

        if (p._aabbMinX <= aabb._minX && p._aabbMaxX >= aabb._maxX && p._aabbMinY <= aabb._minY && p._aabbMaxY >= aabb._maxY && p._aabbMinZ <= aabb._minZ && p._aabbMaxZ >= aabb._maxZ) {
          return;
        }

        p._aabbMinX = aabb._minX;
        p._aabbMinY = aabb._minY;
        p._aabbMinZ = aabb._minZ;
        p._aabbMaxX = aabb._maxX;
        p._aabbMaxY = aabb._maxY;
        p._aabbMaxZ = aabb._maxZ;
        var padding = oimo.common.Setting.bvhProxyPadding;
        p._aabbMinX -= padding;
        p._aabbMinY -= padding;
        p._aabbMinZ -= padding;
        p._aabbMaxX += padding;
        p._aabbMaxY += padding;
        p._aabbMaxZ += padding;

        if (displacement != null) {
          var dX;
          var dY;
          var dZ;
          var zeroX;
          var zeroY;
          var zeroZ;
          var addToMinX;
          var addToMinY;
          var addToMinZ;
          var addToMaxX;
          var addToMaxY;
          var addToMaxZ;
          zeroX = 0;
          zeroY = 0;
          zeroZ = 0;
          dX = displacement.x;
          dY = displacement.y;
          dZ = displacement.z;
          addToMinX = zeroX < dX ? zeroX : dX;
          addToMinY = zeroY < dY ? zeroY : dY;
          addToMinZ = zeroZ < dZ ? zeroZ : dZ;
          addToMaxX = zeroX > dX ? zeroX : dX;
          addToMaxY = zeroY > dY ? zeroY : dY;
          addToMaxZ = zeroZ > dZ ? zeroZ : dZ;
          p._aabbMinX += addToMinX;
          p._aabbMinY += addToMinY;
          p._aabbMinZ += addToMinZ;
          p._aabbMaxX += addToMaxX;
          p._aabbMaxY += addToMaxY;
          p._aabbMaxZ += addToMaxZ;
        }

        if (!p._moved) {
          p._moved = true;

          if (this.movedProxies.length == this.numMovedProxies) {
            var newArray = new Array(this.numMovedProxies << 1);
            var _g = 0;
            var _g1 = this.numMovedProxies;

            while (_g < _g1) {
              var i = _g++;
              newArray[i] = this.movedProxies[i];
              this.movedProxies[i] = null;
            }

            this.movedProxies = newArray;
          }

          this.movedProxies[this.numMovedProxies++] = p;
        }
      }
    }, {
      key: "collectPairs",
      value: function collectPairs() {
        var p = this._proxyPairList;

        if (p != null) {
          while (true) {
            p._p1 = null;
            p._p2 = null;
            p = p._next;

            if (!(p != null)) {
              break;
            }
          }

          this._proxyPairList._next = this._proxyPairPool;
          this._proxyPairPool = this._proxyPairList;
          this._proxyPairList = null;
        }

        this._testCount = 0;

        if (this._numProxies < 2) {
          return;
        }

        var incrementalCollision = this.numMovedProxies / this._numProxies < oimo.common.Setting.bvhIncrementalCollisionThreshold;
        var _g = 0;
        var _g1 = this.numMovedProxies;

        while (_g < _g1) {
          var i = _g++;
          var _p2 = this.movedProxies[i];

          if (_p2._moved) {
            var _this = this._tree;
            var leaf = _p2._leaf;
            _this._numLeaves--;
            var prev = leaf._prevLeaf;
            var next = leaf._nextLeaf;

            if (prev != null) {
              prev._nextLeaf = next;
            }

            if (next != null) {
              next._prevLeaf = prev;
            }

            if (leaf == _this.leafList) {
              _this.leafList = _this.leafList._nextLeaf;
            }

            if (leaf == _this.leafListLast) {
              _this.leafListLast = _this.leafListLast._prevLeaf;
            }

            leaf._nextLeaf = null;
            leaf._prevLeaf = null;

            if (_this._root == leaf) {
              _this._root = null;
            } else {
              var parent = leaf._parent;
              var sibling = parent._children[leaf._childIndex ^ 1];
              var grandParent = parent._parent;

              if (grandParent == null) {
                sibling._parent = null;
                sibling._childIndex = 0;
                _this._root = sibling;
                parent._next = null;
                parent._childIndex = 0;
                parent._children[0] = null;
                parent._children[1] = null;
                parent._childIndex = 0;
                parent._parent = null;
                parent._height = 0;
                parent._proxy = null;
                parent._next = _this._nodePool;
                _this._nodePool = parent;
              } else {
                sibling._parent = grandParent;
                var index = parent._childIndex;
                grandParent._children[index] = sibling;
                sibling._parent = grandParent;
                sibling._childIndex = index;
                parent._next = null;
                parent._childIndex = 0;
                parent._children[0] = null;
                parent._children[1] = null;
                parent._childIndex = 0;
                parent._parent = null;
                parent._height = 0;
                parent._proxy = null;
                parent._next = _this._nodePool;
                _this._nodePool = parent;
                var node = grandParent;

                while (node != null) {
                  if (_this._strategy._balancingEnabled) {
                    if (node._height >= 2) {
                      var _p3 = node._parent;
                      var l = node._children[0];
                      var r = node._children[1];
                      var balance = l._height - r._height;
                      var nodeIndex = node._childIndex;

                      if (balance > 1) {
                        var ll = l._children[0];
                        var lr = l._children[1];

                        if (ll._height > lr._height) {
                          l._children[1] = node;
                          node._parent = l;
                          node._childIndex = 1;
                          node._children[0] = lr;
                          lr._parent = node;
                          lr._childIndex = 0;
                          var _c29 = l._children[0];
                          var _c30 = l._children[1];
                          l._aabbMinX = _c29._aabbMinX < _c30._aabbMinX ? _c29._aabbMinX : _c30._aabbMinX;
                          l._aabbMinY = _c29._aabbMinY < _c30._aabbMinY ? _c29._aabbMinY : _c30._aabbMinY;
                          l._aabbMinZ = _c29._aabbMinZ < _c30._aabbMinZ ? _c29._aabbMinZ : _c30._aabbMinZ;
                          l._aabbMaxX = _c29._aabbMaxX > _c30._aabbMaxX ? _c29._aabbMaxX : _c30._aabbMaxX;
                          l._aabbMaxY = _c29._aabbMaxY > _c30._aabbMaxY ? _c29._aabbMaxY : _c30._aabbMaxY;
                          l._aabbMaxZ = _c29._aabbMaxZ > _c30._aabbMaxZ ? _c29._aabbMaxZ : _c30._aabbMaxZ;
                          var _h29 = l._children[0]._height;
                          var _h30 = l._children[1]._height;
                          l._height = (_h29 > _h30 ? _h29 : _h30) + 1;
                          var c11 = node._children[0];
                          var c21 = node._children[1];
                          node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
                          node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
                          node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
                          node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
                          node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
                          node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
                          var h11 = node._children[0]._height;
                          var h21 = node._children[1]._height;
                          node._height = (h11 > h21 ? h11 : h21) + 1;
                        } else {
                          l._children[0] = node;
                          node._parent = l;
                          node._childIndex = 0;
                          node._children[0] = ll;
                          ll._parent = node;
                          ll._childIndex = 0;
                          var _c31 = l._children[0];
                          var _c32 = l._children[1];
                          l._aabbMinX = _c31._aabbMinX < _c32._aabbMinX ? _c31._aabbMinX : _c32._aabbMinX;
                          l._aabbMinY = _c31._aabbMinY < _c32._aabbMinY ? _c31._aabbMinY : _c32._aabbMinY;
                          l._aabbMinZ = _c31._aabbMinZ < _c32._aabbMinZ ? _c31._aabbMinZ : _c32._aabbMinZ;
                          l._aabbMaxX = _c31._aabbMaxX > _c32._aabbMaxX ? _c31._aabbMaxX : _c32._aabbMaxX;
                          l._aabbMaxY = _c31._aabbMaxY > _c32._aabbMaxY ? _c31._aabbMaxY : _c32._aabbMaxY;
                          l._aabbMaxZ = _c31._aabbMaxZ > _c32._aabbMaxZ ? _c31._aabbMaxZ : _c32._aabbMaxZ;
                          var _h31 = l._children[0]._height;
                          var _h32 = l._children[1]._height;
                          l._height = (_h31 > _h32 ? _h31 : _h32) + 1;
                          var _c33 = node._children[0];
                          var _c34 = node._children[1];
                          node._aabbMinX = _c33._aabbMinX < _c34._aabbMinX ? _c33._aabbMinX : _c34._aabbMinX;
                          node._aabbMinY = _c33._aabbMinY < _c34._aabbMinY ? _c33._aabbMinY : _c34._aabbMinY;
                          node._aabbMinZ = _c33._aabbMinZ < _c34._aabbMinZ ? _c33._aabbMinZ : _c34._aabbMinZ;
                          node._aabbMaxX = _c33._aabbMaxX > _c34._aabbMaxX ? _c33._aabbMaxX : _c34._aabbMaxX;
                          node._aabbMaxY = _c33._aabbMaxY > _c34._aabbMaxY ? _c33._aabbMaxY : _c34._aabbMaxY;
                          node._aabbMaxZ = _c33._aabbMaxZ > _c34._aabbMaxZ ? _c33._aabbMaxZ : _c34._aabbMaxZ;
                          var _h33 = node._children[0]._height;
                          var _h34 = node._children[1]._height;
                          node._height = (_h33 > _h34 ? _h33 : _h34) + 1;
                        }

                        if (_p3 != null) {
                          _p3._children[nodeIndex] = l;
                          l._parent = _p3;
                          l._childIndex = nodeIndex;
                        } else {
                          _this._root = l;
                          l._parent = null;
                        }

                        node = l;
                      } else if (balance < -1) {
                        var rl = r._children[0];
                        var rr = r._children[1];

                        if (rl._height > rr._height) {
                          r._children[1] = node;
                          node._parent = r;
                          node._childIndex = 1;
                          node._children[1] = rr;
                          rr._parent = node;
                          rr._childIndex = 1;
                          var _c35 = r._children[0];
                          var _c36 = r._children[1];
                          r._aabbMinX = _c35._aabbMinX < _c36._aabbMinX ? _c35._aabbMinX : _c36._aabbMinX;
                          r._aabbMinY = _c35._aabbMinY < _c36._aabbMinY ? _c35._aabbMinY : _c36._aabbMinY;
                          r._aabbMinZ = _c35._aabbMinZ < _c36._aabbMinZ ? _c35._aabbMinZ : _c36._aabbMinZ;
                          r._aabbMaxX = _c35._aabbMaxX > _c36._aabbMaxX ? _c35._aabbMaxX : _c36._aabbMaxX;
                          r._aabbMaxY = _c35._aabbMaxY > _c36._aabbMaxY ? _c35._aabbMaxY : _c36._aabbMaxY;
                          r._aabbMaxZ = _c35._aabbMaxZ > _c36._aabbMaxZ ? _c35._aabbMaxZ : _c36._aabbMaxZ;
                          var _h35 = r._children[0]._height;
                          var _h36 = r._children[1]._height;
                          r._height = (_h35 > _h36 ? _h35 : _h36) + 1;
                          var _c37 = node._children[0];
                          var _c38 = node._children[1];
                          node._aabbMinX = _c37._aabbMinX < _c38._aabbMinX ? _c37._aabbMinX : _c38._aabbMinX;
                          node._aabbMinY = _c37._aabbMinY < _c38._aabbMinY ? _c37._aabbMinY : _c38._aabbMinY;
                          node._aabbMinZ = _c37._aabbMinZ < _c38._aabbMinZ ? _c37._aabbMinZ : _c38._aabbMinZ;
                          node._aabbMaxX = _c37._aabbMaxX > _c38._aabbMaxX ? _c37._aabbMaxX : _c38._aabbMaxX;
                          node._aabbMaxY = _c37._aabbMaxY > _c38._aabbMaxY ? _c37._aabbMaxY : _c38._aabbMaxY;
                          node._aabbMaxZ = _c37._aabbMaxZ > _c38._aabbMaxZ ? _c37._aabbMaxZ : _c38._aabbMaxZ;
                          var _h37 = node._children[0]._height;
                          var _h38 = node._children[1]._height;
                          node._height = (_h37 > _h38 ? _h37 : _h38) + 1;
                        } else {
                          r._children[0] = node;
                          node._parent = r;
                          node._childIndex = 0;
                          node._children[1] = rl;
                          rl._parent = node;
                          rl._childIndex = 1;
                          var _c39 = r._children[0];
                          var _c40 = r._children[1];
                          r._aabbMinX = _c39._aabbMinX < _c40._aabbMinX ? _c39._aabbMinX : _c40._aabbMinX;
                          r._aabbMinY = _c39._aabbMinY < _c40._aabbMinY ? _c39._aabbMinY : _c40._aabbMinY;
                          r._aabbMinZ = _c39._aabbMinZ < _c40._aabbMinZ ? _c39._aabbMinZ : _c40._aabbMinZ;
                          r._aabbMaxX = _c39._aabbMaxX > _c40._aabbMaxX ? _c39._aabbMaxX : _c40._aabbMaxX;
                          r._aabbMaxY = _c39._aabbMaxY > _c40._aabbMaxY ? _c39._aabbMaxY : _c40._aabbMaxY;
                          r._aabbMaxZ = _c39._aabbMaxZ > _c40._aabbMaxZ ? _c39._aabbMaxZ : _c40._aabbMaxZ;
                          var _h39 = r._children[0]._height;
                          var _h40 = r._children[1]._height;
                          r._height = (_h39 > _h40 ? _h39 : _h40) + 1;
                          var _c41 = node._children[0];
                          var _c42 = node._children[1];
                          node._aabbMinX = _c41._aabbMinX < _c42._aabbMinX ? _c41._aabbMinX : _c42._aabbMinX;
                          node._aabbMinY = _c41._aabbMinY < _c42._aabbMinY ? _c41._aabbMinY : _c42._aabbMinY;
                          node._aabbMinZ = _c41._aabbMinZ < _c42._aabbMinZ ? _c41._aabbMinZ : _c42._aabbMinZ;
                          node._aabbMaxX = _c41._aabbMaxX > _c42._aabbMaxX ? _c41._aabbMaxX : _c42._aabbMaxX;
                          node._aabbMaxY = _c41._aabbMaxY > _c42._aabbMaxY ? _c41._aabbMaxY : _c42._aabbMaxY;
                          node._aabbMaxZ = _c41._aabbMaxZ > _c42._aabbMaxZ ? _c41._aabbMaxZ : _c42._aabbMaxZ;
                          var _h41 = node._children[0]._height;
                          var _h42 = node._children[1]._height;
                          node._height = (_h41 > _h42 ? _h41 : _h42) + 1;
                        }

                        if (_p3 != null) {
                          _p3._children[nodeIndex] = r;
                          r._parent = _p3;
                          r._childIndex = nodeIndex;
                        } else {
                          _this._root = r;
                          r._parent = null;
                        }

                        node = r;
                      }
                    }
                  }

                  var h1 = node._children[0]._height;
                  var h2 = node._children[1]._height;
                  node._height = (h1 > h2 ? h1 : h2) + 1;
                  var c1 = node._children[0];
                  var c2 = node._children[1];
                  node._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
                  node._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
                  node._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
                  node._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
                  node._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
                  node._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
                  node = node._parent;
                }
              }
            }

            _p2._leaf = null;
            leaf._next = null;
            leaf._childIndex = 0;
            leaf._children[0] = null;
            leaf._children[1] = null;
            leaf._childIndex = 0;
            leaf._parent = null;
            leaf._height = 0;
            leaf._proxy = null;
            leaf._next = _this._nodePool;
            _this._nodePool = leaf;
            var _this1 = this._tree;
            var first = _this1._nodePool;

            if (first != null) {
              _this1._nodePool = first._next;
              first._next = null;
            } else {
              first = new oimo.collision.broadphase.bvh.BvhNode();
            }

            var leaf1 = first;
            leaf1._proxy = _p2;
            _p2._leaf = leaf1;
            leaf1._aabbMinX = _p2._aabbMinX;
            leaf1._aabbMinY = _p2._aabbMinY;
            leaf1._aabbMinZ = _p2._aabbMinZ;
            leaf1._aabbMaxX = _p2._aabbMaxX;
            leaf1._aabbMaxY = _p2._aabbMaxY;
            leaf1._aabbMaxZ = _p2._aabbMaxZ;
            _this1._numLeaves++;

            if (_this1.leafList == null) {
              _this1.leafList = leaf1;
              _this1.leafListLast = leaf1;
            } else {
              _this1.leafListLast._nextLeaf = leaf1;
              leaf1._prevLeaf = _this1.leafListLast;
              _this1.leafListLast = leaf1;
            }

            if (_this1._root == null) {
              _this1._root = leaf1;
            } else {
              var _sibling = _this1._root;

              while (_sibling._height > 0) {
                var nextStep = _this1._strategy._decideInsertion(_sibling, leaf1);

                if (nextStep == -1) {
                  break;
                } else {
                  _sibling = _sibling._children[nextStep];
                }
              }

              var _parent = _sibling._parent;
              var _first2 = _this1._nodePool;

              if (_first2 != null) {
                _this1._nodePool = _first2._next;
                _first2._next = null;
              } else {
                _first2 = new oimo.collision.broadphase.bvh.BvhNode();
              }

              var _node = _first2;

              if (_parent == null) {
                _this1._root = _node;
              } else {
                var _index3 = _sibling._childIndex;
                _parent._children[_index3] = _node;
                _node._parent = _parent;
                _node._childIndex = _index3;
              }

              var _index2 = _sibling._childIndex;
              _node._children[_index2] = _sibling;
              _sibling._parent = _node;
              _sibling._childIndex = _index2;
              var index1 = _sibling._childIndex ^ 1;
              _node._children[index1] = leaf1;
              leaf1._parent = _node;
              leaf1._childIndex = index1;

              while (_node != null) {
                if (_this1._strategy._balancingEnabled) {
                  if (_node._height >= 2) {
                    var _p4 = _node._parent;
                    var _l = _node._children[0];
                    var _r = _node._children[1];

                    var _balance = _l._height - _r._height;

                    var _nodeIndex = _node._childIndex;

                    if (_balance > 1) {
                      var _ll = _l._children[0];
                      var _lr = _l._children[1];

                      if (_ll._height > _lr._height) {
                        _l._children[1] = _node;
                        _node._parent = _l;
                        _node._childIndex = 1;
                        _node._children[0] = _lr;
                        _lr._parent = _node;
                        _lr._childIndex = 0;
                        var _c45 = _l._children[0];
                        var _c46 = _l._children[1];
                        _l._aabbMinX = _c45._aabbMinX < _c46._aabbMinX ? _c45._aabbMinX : _c46._aabbMinX;
                        _l._aabbMinY = _c45._aabbMinY < _c46._aabbMinY ? _c45._aabbMinY : _c46._aabbMinY;
                        _l._aabbMinZ = _c45._aabbMinZ < _c46._aabbMinZ ? _c45._aabbMinZ : _c46._aabbMinZ;
                        _l._aabbMaxX = _c45._aabbMaxX > _c46._aabbMaxX ? _c45._aabbMaxX : _c46._aabbMaxX;
                        _l._aabbMaxY = _c45._aabbMaxY > _c46._aabbMaxY ? _c45._aabbMaxY : _c46._aabbMaxY;
                        _l._aabbMaxZ = _c45._aabbMaxZ > _c46._aabbMaxZ ? _c45._aabbMaxZ : _c46._aabbMaxZ;
                        var _h45 = _l._children[0]._height;
                        var _h46 = _l._children[1]._height;
                        _l._height = (_h45 > _h46 ? _h45 : _h46) + 1;
                        var _c47 = _node._children[0];
                        var _c48 = _node._children[1];
                        _node._aabbMinX = _c47._aabbMinX < _c48._aabbMinX ? _c47._aabbMinX : _c48._aabbMinX;
                        _node._aabbMinY = _c47._aabbMinY < _c48._aabbMinY ? _c47._aabbMinY : _c48._aabbMinY;
                        _node._aabbMinZ = _c47._aabbMinZ < _c48._aabbMinZ ? _c47._aabbMinZ : _c48._aabbMinZ;
                        _node._aabbMaxX = _c47._aabbMaxX > _c48._aabbMaxX ? _c47._aabbMaxX : _c48._aabbMaxX;
                        _node._aabbMaxY = _c47._aabbMaxY > _c48._aabbMaxY ? _c47._aabbMaxY : _c48._aabbMaxY;
                        _node._aabbMaxZ = _c47._aabbMaxZ > _c48._aabbMaxZ ? _c47._aabbMaxZ : _c48._aabbMaxZ;
                        var _h47 = _node._children[0]._height;
                        var _h48 = _node._children[1]._height;
                        _node._height = (_h47 > _h48 ? _h47 : _h48) + 1;
                      } else {
                        _l._children[0] = _node;
                        _node._parent = _l;
                        _node._childIndex = 0;
                        _node._children[0] = _ll;
                        _ll._parent = _node;
                        _ll._childIndex = 0;
                        var _c49 = _l._children[0];
                        var _c50 = _l._children[1];
                        _l._aabbMinX = _c49._aabbMinX < _c50._aabbMinX ? _c49._aabbMinX : _c50._aabbMinX;
                        _l._aabbMinY = _c49._aabbMinY < _c50._aabbMinY ? _c49._aabbMinY : _c50._aabbMinY;
                        _l._aabbMinZ = _c49._aabbMinZ < _c50._aabbMinZ ? _c49._aabbMinZ : _c50._aabbMinZ;
                        _l._aabbMaxX = _c49._aabbMaxX > _c50._aabbMaxX ? _c49._aabbMaxX : _c50._aabbMaxX;
                        _l._aabbMaxY = _c49._aabbMaxY > _c50._aabbMaxY ? _c49._aabbMaxY : _c50._aabbMaxY;
                        _l._aabbMaxZ = _c49._aabbMaxZ > _c50._aabbMaxZ ? _c49._aabbMaxZ : _c50._aabbMaxZ;
                        var _h49 = _l._children[0]._height;
                        var _h50 = _l._children[1]._height;
                        _l._height = (_h49 > _h50 ? _h49 : _h50) + 1;
                        var _c51 = _node._children[0];
                        var _c52 = _node._children[1];
                        _node._aabbMinX = _c51._aabbMinX < _c52._aabbMinX ? _c51._aabbMinX : _c52._aabbMinX;
                        _node._aabbMinY = _c51._aabbMinY < _c52._aabbMinY ? _c51._aabbMinY : _c52._aabbMinY;
                        _node._aabbMinZ = _c51._aabbMinZ < _c52._aabbMinZ ? _c51._aabbMinZ : _c52._aabbMinZ;
                        _node._aabbMaxX = _c51._aabbMaxX > _c52._aabbMaxX ? _c51._aabbMaxX : _c52._aabbMaxX;
                        _node._aabbMaxY = _c51._aabbMaxY > _c52._aabbMaxY ? _c51._aabbMaxY : _c52._aabbMaxY;
                        _node._aabbMaxZ = _c51._aabbMaxZ > _c52._aabbMaxZ ? _c51._aabbMaxZ : _c52._aabbMaxZ;
                        var _h51 = _node._children[0]._height;
                        var _h52 = _node._children[1]._height;
                        _node._height = (_h51 > _h52 ? _h51 : _h52) + 1;
                      }

                      if (_p4 != null) {
                        _p4._children[_nodeIndex] = _l;
                        _l._parent = _p4;
                        _l._childIndex = _nodeIndex;
                      } else {
                        _this1._root = _l;
                        _l._parent = null;
                      }

                      _node = _l;
                    } else if (_balance < -1) {
                      var _rl = _r._children[0];
                      var _rr = _r._children[1];

                      if (_rl._height > _rr._height) {
                        _r._children[1] = _node;
                        _node._parent = _r;
                        _node._childIndex = 1;
                        _node._children[1] = _rr;
                        _rr._parent = _node;
                        _rr._childIndex = 1;
                        var _c53 = _r._children[0];
                        var _c54 = _r._children[1];
                        _r._aabbMinX = _c53._aabbMinX < _c54._aabbMinX ? _c53._aabbMinX : _c54._aabbMinX;
                        _r._aabbMinY = _c53._aabbMinY < _c54._aabbMinY ? _c53._aabbMinY : _c54._aabbMinY;
                        _r._aabbMinZ = _c53._aabbMinZ < _c54._aabbMinZ ? _c53._aabbMinZ : _c54._aabbMinZ;
                        _r._aabbMaxX = _c53._aabbMaxX > _c54._aabbMaxX ? _c53._aabbMaxX : _c54._aabbMaxX;
                        _r._aabbMaxY = _c53._aabbMaxY > _c54._aabbMaxY ? _c53._aabbMaxY : _c54._aabbMaxY;
                        _r._aabbMaxZ = _c53._aabbMaxZ > _c54._aabbMaxZ ? _c53._aabbMaxZ : _c54._aabbMaxZ;
                        var _h53 = _r._children[0]._height;
                        var _h54 = _r._children[1]._height;
                        _r._height = (_h53 > _h54 ? _h53 : _h54) + 1;
                        var _c55 = _node._children[0];
                        var _c56 = _node._children[1];
                        _node._aabbMinX = _c55._aabbMinX < _c56._aabbMinX ? _c55._aabbMinX : _c56._aabbMinX;
                        _node._aabbMinY = _c55._aabbMinY < _c56._aabbMinY ? _c55._aabbMinY : _c56._aabbMinY;
                        _node._aabbMinZ = _c55._aabbMinZ < _c56._aabbMinZ ? _c55._aabbMinZ : _c56._aabbMinZ;
                        _node._aabbMaxX = _c55._aabbMaxX > _c56._aabbMaxX ? _c55._aabbMaxX : _c56._aabbMaxX;
                        _node._aabbMaxY = _c55._aabbMaxY > _c56._aabbMaxY ? _c55._aabbMaxY : _c56._aabbMaxY;
                        _node._aabbMaxZ = _c55._aabbMaxZ > _c56._aabbMaxZ ? _c55._aabbMaxZ : _c56._aabbMaxZ;
                        var _h55 = _node._children[0]._height;
                        var _h56 = _node._children[1]._height;
                        _node._height = (_h55 > _h56 ? _h55 : _h56) + 1;
                      } else {
                        _r._children[0] = _node;
                        _node._parent = _r;
                        _node._childIndex = 0;
                        _node._children[1] = _rl;
                        _rl._parent = _node;
                        _rl._childIndex = 1;
                        var _c57 = _r._children[0];
                        var _c58 = _r._children[1];
                        _r._aabbMinX = _c57._aabbMinX < _c58._aabbMinX ? _c57._aabbMinX : _c58._aabbMinX;
                        _r._aabbMinY = _c57._aabbMinY < _c58._aabbMinY ? _c57._aabbMinY : _c58._aabbMinY;
                        _r._aabbMinZ = _c57._aabbMinZ < _c58._aabbMinZ ? _c57._aabbMinZ : _c58._aabbMinZ;
                        _r._aabbMaxX = _c57._aabbMaxX > _c58._aabbMaxX ? _c57._aabbMaxX : _c58._aabbMaxX;
                        _r._aabbMaxY = _c57._aabbMaxY > _c58._aabbMaxY ? _c57._aabbMaxY : _c58._aabbMaxY;
                        _r._aabbMaxZ = _c57._aabbMaxZ > _c58._aabbMaxZ ? _c57._aabbMaxZ : _c58._aabbMaxZ;
                        var _h57 = _r._children[0]._height;
                        var _h58 = _r._children[1]._height;
                        _r._height = (_h57 > _h58 ? _h57 : _h58) + 1;
                        var _c59 = _node._children[0];
                        var _c60 = _node._children[1];
                        _node._aabbMinX = _c59._aabbMinX < _c60._aabbMinX ? _c59._aabbMinX : _c60._aabbMinX;
                        _node._aabbMinY = _c59._aabbMinY < _c60._aabbMinY ? _c59._aabbMinY : _c60._aabbMinY;
                        _node._aabbMinZ = _c59._aabbMinZ < _c60._aabbMinZ ? _c59._aabbMinZ : _c60._aabbMinZ;
                        _node._aabbMaxX = _c59._aabbMaxX > _c60._aabbMaxX ? _c59._aabbMaxX : _c60._aabbMaxX;
                        _node._aabbMaxY = _c59._aabbMaxY > _c60._aabbMaxY ? _c59._aabbMaxY : _c60._aabbMaxY;
                        _node._aabbMaxZ = _c59._aabbMaxZ > _c60._aabbMaxZ ? _c59._aabbMaxZ : _c60._aabbMaxZ;
                        var _h59 = _node._children[0]._height;
                        var _h60 = _node._children[1]._height;
                        _node._height = (_h59 > _h60 ? _h59 : _h60) + 1;
                      }

                      if (_p4 != null) {
                        _p4._children[_nodeIndex] = _r;
                        _r._parent = _p4;
                        _r._childIndex = _nodeIndex;
                      } else {
                        _this1._root = _r;
                        _r._parent = null;
                      }

                      _node = _r;
                    }
                  }
                }

                var _h43 = _node._children[0]._height;
                var _h44 = _node._children[1]._height;
                _node._height = (_h43 > _h44 ? _h43 : _h44) + 1;
                var _c43 = _node._children[0];
                var _c44 = _node._children[1];
                _node._aabbMinX = _c43._aabbMinX < _c44._aabbMinX ? _c43._aabbMinX : _c44._aabbMinX;
                _node._aabbMinY = _c43._aabbMinY < _c44._aabbMinY ? _c43._aabbMinY : _c44._aabbMinY;
                _node._aabbMinZ = _c43._aabbMinZ < _c44._aabbMinZ ? _c43._aabbMinZ : _c44._aabbMinZ;
                _node._aabbMaxX = _c43._aabbMaxX > _c44._aabbMaxX ? _c43._aabbMaxX : _c44._aabbMaxX;
                _node._aabbMaxY = _c43._aabbMaxY > _c44._aabbMaxY ? _c43._aabbMaxY : _c44._aabbMaxY;
                _node._aabbMaxZ = _c43._aabbMaxZ > _c44._aabbMaxZ ? _c43._aabbMaxZ : _c44._aabbMaxZ;
                _node = _node._parent;
              }
            }

            if (incrementalCollision) {
              this.collide(this._tree._root, _p2._leaf);
            }

            _p2._moved = false;
          }

          this.movedProxies[i] = null;
        }

        if (!incrementalCollision) {
          this.collide(this._tree._root, this._tree._root);
        }

        this.numMovedProxies = 0;
      }
    }, {
      key: "rayCast",
      value: function rayCast(begin, end, callback) {
        if (this._tree._root == null) {
          return;
        }

        var p1X;
        var p1Y;
        var p1Z;
        var p2X;
        var p2Y;
        var p2Z;
        p1X = begin.x;
        p1Y = begin.y;
        p1Z = begin.z;
        p2X = end.x;
        p2Y = end.y;
        p2Z = end.z;
        this.rayCastRecursive(this._tree._root, p1X, p1Y, p1Z, p2X, p2Y, p2Z, callback);
      }
    }, {
      key: "convexCast",
      value: function convexCast(convex, begin, translation, callback) {
        if (this._tree._root == null) {
          return;
        }

        this.convexCastRecursive(this._tree._root, convex, begin, translation, callback);
      }
    }, {
      key: "aabbTest",
      value: function aabbTest(aabb, callback) {
        if (this._tree._root == null) {
          return;
        }

        this.aabbTestRecursive(this._tree._root, aabb, callback);
      }
    }, {
      key: "getTreeBalance",
      value: function getTreeBalance() {
        return this._tree._getBalance();
      }
    }]);

    return oimo_collision_broadphase_bvh_BvhBroadPhase;
  }(oimo.collision.broadphase.BroadPhase);

  oimo.collision.broadphase.bvh.BvhInsertionStrategy = /*#__PURE__*/_createClass(function oimo_collision_broadphase_bvh_BvhInsertionStrategy() {
    _classCallCheck(this, oimo_collision_broadphase_bvh_BvhInsertionStrategy);
  });
  oimo.collision.broadphase.bvh.BvhNode = /*#__PURE__*/_createClass(function oimo_collision_broadphase_bvh_BvhNode() {
    _classCallCheck(this, oimo_collision_broadphase_bvh_BvhNode);

    this._next = null;
    this._prevLeaf = null;
    this._nextLeaf = null;
    this._children = new Array(2);
    this._childIndex = 0;
    this._parent = null;
    this._height = 0;
    this._proxy = null;
    this._aabbMinX = 0;
    this._aabbMinY = 0;
    this._aabbMinZ = 0;
    this._aabbMaxX = 0;
    this._aabbMaxY = 0;
    this._aabbMaxZ = 0;
  });

  oimo.collision.broadphase.bvh.BvhProxy = /*#__PURE__*/function (_oimo$collision$broad3) {
    _inherits(oimo_collision_broadphase_bvh_BvhProxy, _oimo$collision$broad3);

    var _super6 = _createSuper(oimo_collision_broadphase_bvh_BvhProxy);

    function oimo_collision_broadphase_bvh_BvhProxy(userData, id) {
      var _this46;

      _classCallCheck(this, oimo_collision_broadphase_bvh_BvhProxy);

      _this46 = _super6.call(this, userData, id);
      _this46._leaf = null;
      _this46._moved = false;
      return _this46;
    }

    return _createClass(oimo_collision_broadphase_bvh_BvhProxy);
  }(oimo.collision.broadphase.Proxy);

  oimo.collision.broadphase.bvh.BvhStrategy = /*#__PURE__*/function () {
    function oimo_collision_broadphase_bvh_BvhStrategy() {
      _classCallCheck(this, oimo_collision_broadphase_bvh_BvhStrategy);

      this._insertionStrategy = 0;
      this._balancingEnabled = false;
    }

    _createClass(oimo_collision_broadphase_bvh_BvhStrategy, [{
      key: "_decideInsertion",
      value: function _decideInsertion(currentNode, leaf) {
        switch (this._insertionStrategy) {
          case 0:
            var centerX;
            var centerY;
            var centerZ;
            centerX = leaf._aabbMinX + leaf._aabbMaxX;
            centerY = leaf._aabbMinY + leaf._aabbMaxY;
            centerZ = leaf._aabbMinZ + leaf._aabbMaxZ;
            var c1 = currentNode._children[0];
            var c2 = currentNode._children[1];
            var diff1X;
            var diff1Y;
            var diff1Z;
            var diff2X;
            var diff2Y;
            var diff2Z;
            diff1X = c1._aabbMinX + c1._aabbMaxX;
            diff1Y = c1._aabbMinY + c1._aabbMaxY;
            diff1Z = c1._aabbMinZ + c1._aabbMaxZ;
            diff2X = c2._aabbMinX + c2._aabbMaxX;
            diff2Y = c2._aabbMinY + c2._aabbMaxY;
            diff2Z = c2._aabbMinZ + c2._aabbMaxZ;
            diff1X -= centerX;
            diff1Y -= centerY;
            diff1Z -= centerZ;
            diff2X -= centerX;
            diff2Y -= centerY;
            diff2Z -= centerZ;

            if (diff1X * diff1X + diff1Y * diff1Y + diff1Z * diff1Z < diff2X * diff2X + diff2Y * diff2Y + diff2Z * diff2Z) {
              return 0;
            } else {
              return 1;
            }

            break;

          case 1:
            var c11 = currentNode._children[0];
            var c21 = currentNode._children[1];
            var ey = currentNode._aabbMaxY - currentNode._aabbMinY;
            var ez = currentNode._aabbMaxZ - currentNode._aabbMinZ;
            var combinedMinX;
            var combinedMinY;
            var combinedMinZ;
            var combinedMaxX;
            var combinedMaxY;
            var combinedMaxZ;
            combinedMinX = currentNode._aabbMinX < leaf._aabbMinX ? currentNode._aabbMinX : leaf._aabbMinX;
            combinedMinY = currentNode._aabbMinY < leaf._aabbMinY ? currentNode._aabbMinY : leaf._aabbMinY;
            combinedMinZ = currentNode._aabbMinZ < leaf._aabbMinZ ? currentNode._aabbMinZ : leaf._aabbMinZ;
            combinedMaxX = currentNode._aabbMaxX > leaf._aabbMaxX ? currentNode._aabbMaxX : leaf._aabbMaxX;
            combinedMaxY = currentNode._aabbMaxY > leaf._aabbMaxY ? currentNode._aabbMaxY : leaf._aabbMaxY;
            combinedMaxZ = currentNode._aabbMaxZ > leaf._aabbMaxZ ? currentNode._aabbMaxZ : leaf._aabbMaxZ;
            var ey1 = combinedMaxY - combinedMinY;
            var ez1 = combinedMaxZ - combinedMinZ;
            var newArea = ((combinedMaxX - combinedMinX) * (ey1 + ez1) + ey1 * ez1) * 2;
            var creatingCost = newArea * 2;
            var incrementalCost = (newArea - ((currentNode._aabbMaxX - currentNode._aabbMinX) * (ey + ez) + ey * ez) * 2) * 2;
            var descendingCost1;
            combinedMinX = c11._aabbMinX < leaf._aabbMinX ? c11._aabbMinX : leaf._aabbMinX;
            combinedMinY = c11._aabbMinY < leaf._aabbMinY ? c11._aabbMinY : leaf._aabbMinY;
            combinedMinZ = c11._aabbMinZ < leaf._aabbMinZ ? c11._aabbMinZ : leaf._aabbMinZ;
            combinedMaxX = c11._aabbMaxX > leaf._aabbMaxX ? c11._aabbMaxX : leaf._aabbMaxX;
            combinedMaxY = c11._aabbMaxY > leaf._aabbMaxY ? c11._aabbMaxY : leaf._aabbMaxY;
            combinedMaxZ = c11._aabbMaxZ > leaf._aabbMaxZ ? c11._aabbMaxZ : leaf._aabbMaxZ;

            if (c11._height == 0) {
              var _ey = combinedMaxY - combinedMinY;

              var _ez = combinedMaxZ - combinedMinZ;

              descendingCost1 = incrementalCost + ((combinedMaxX - combinedMinX) * (_ey + _ez) + _ey * _ez) * 2;
            } else {
              var _ey2 = combinedMaxY - combinedMinY;

              var _ez2 = combinedMaxZ - combinedMinZ;

              var _ey3 = c11._aabbMaxY - c11._aabbMinY;

              var _ez3 = c11._aabbMaxZ - c11._aabbMinZ;

              descendingCost1 = incrementalCost + (((combinedMaxX - combinedMinX) * (_ey2 + _ez2) + _ey2 * _ez2) * 2 - ((c11._aabbMaxX - c11._aabbMinX) * (_ey3 + _ez3) + _ey3 * _ez3) * 2);
            }

            var descendingCost2;
            combinedMinX = c21._aabbMinX < leaf._aabbMinX ? c21._aabbMinX : leaf._aabbMinX;
            combinedMinY = c21._aabbMinY < leaf._aabbMinY ? c21._aabbMinY : leaf._aabbMinY;
            combinedMinZ = c21._aabbMinZ < leaf._aabbMinZ ? c21._aabbMinZ : leaf._aabbMinZ;
            combinedMaxX = c21._aabbMaxX > leaf._aabbMaxX ? c21._aabbMaxX : leaf._aabbMaxX;
            combinedMaxY = c21._aabbMaxY > leaf._aabbMaxY ? c21._aabbMaxY : leaf._aabbMaxY;
            combinedMaxZ = c21._aabbMaxZ > leaf._aabbMaxZ ? c21._aabbMaxZ : leaf._aabbMaxZ;

            if (c21._height == 0) {
              var _ey4 = combinedMaxY - combinedMinY;

              var _ez4 = combinedMaxZ - combinedMinZ;

              descendingCost2 = incrementalCost + ((combinedMaxX - combinedMinX) * (_ey4 + _ez4) + _ey4 * _ez4) * 2;
            } else {
              var _ey5 = combinedMaxY - combinedMinY;

              var _ez5 = combinedMaxZ - combinedMinZ;

              var _ey6 = c21._aabbMaxY - c21._aabbMinY;

              var _ez6 = c21._aabbMaxZ - c21._aabbMinZ;

              descendingCost2 = incrementalCost + (((combinedMaxX - combinedMinX) * (_ey5 + _ez5) + _ey5 * _ez5) * 2 - ((c21._aabbMaxX - c21._aabbMinX) * (_ey6 + _ez6) + _ey6 * _ez6) * 2);
            }

            if (creatingCost < descendingCost1) {
              if (creatingCost < descendingCost2) {
                return -1;
              } else {
                return 1;
              }
            } else if (descendingCost1 < descendingCost2) {
              return 0;
            } else {
              return 1;
            }

            break;

          default:
            console.log("src/oimo/collision/broadphase/bvh/BvhStrategy.hx:37:", "invalid BVH insertion strategy: " + this._insertionStrategy);
            return -1;
        }
      }
    }, {
      key: "_splitLeaves",
      value: function _splitLeaves(leaves, from, until) {
        var invN = 1.0 / (until - from);
        var centerMeanX;
        var centerMeanY;
        var centerMeanZ;
        centerMeanX = 0;
        centerMeanY = 0;
        centerMeanZ = 0;
        var _g = from;

        while (_g < until) {
          var leaf = leaves[_g++];
          leaf._tmpX = leaf._aabbMaxX + leaf._aabbMinX;
          leaf._tmpY = leaf._aabbMaxY + leaf._aabbMinY;
          leaf._tmpZ = leaf._aabbMaxZ + leaf._aabbMinZ;
          centerMeanX += leaf._tmpX;
          centerMeanY += leaf._tmpY;
          centerMeanZ += leaf._tmpZ;
        }

        centerMeanX *= invN;
        centerMeanY *= invN;
        centerMeanZ *= invN;
        var varianceX;
        var varianceY;
        var varianceZ;
        varianceX = 0;
        varianceY = 0;
        varianceZ = 0;
        var _g1 = from;

        while (_g1 < until) {
          var _leaf = leaves[_g1++];
          var diffX = void 0;
          var diffY = void 0;
          var diffZ = void 0;
          diffX = _leaf._tmpX - centerMeanX;
          diffY = _leaf._tmpY - centerMeanY;
          diffZ = _leaf._tmpZ - centerMeanZ;
          diffX *= diffX;
          diffY *= diffY;
          diffZ *= diffZ;
          varianceX += diffX;
          varianceY += diffY;
          varianceZ += diffZ;
        }

        var varX = varianceX;
        var varY = varianceY;
        var varZ = varianceZ;
        var l = from;
        var r = until - 1;

        if (varX > varY) {
          if (varX > varZ) {
            var mean = centerMeanX;

            while (true) {
              while (!(leaves[l]._tmpX <= mean)) {
                ++l;
              }

              while (!(leaves[r]._tmpX >= mean)) {
                --r;
              }

              if (l >= r) {
                break;
              }

              var tmp = leaves[l];
              leaves[l] = leaves[r];
              leaves[r] = tmp;
              ++l;
              --r;
            }
          } else {
            var _mean = centerMeanZ;

            while (true) {
              while (!(leaves[l]._tmpZ <= _mean)) {
                ++l;
              }

              while (!(leaves[r]._tmpZ >= _mean)) {
                --r;
              }

              if (l >= r) {
                break;
              }

              var _tmp = leaves[l];
              leaves[l] = leaves[r];
              leaves[r] = _tmp;
              ++l;
              --r;
            }
          }
        } else if (varY > varZ) {
          var _mean2 = centerMeanY;

          while (true) {
            while (!(leaves[l]._tmpY <= _mean2)) {
              ++l;
            }

            while (!(leaves[r]._tmpY >= _mean2)) {
              --r;
            }

            if (l >= r) {
              break;
            }

            var _tmp2 = leaves[l];
            leaves[l] = leaves[r];
            leaves[r] = _tmp2;
            ++l;
            --r;
          }
        } else {
          var _mean3 = centerMeanZ;

          while (true) {
            while (!(leaves[l]._tmpZ <= _mean3)) {
              ++l;
            }

            while (!(leaves[r]._tmpZ >= _mean3)) {
              --r;
            }

            if (l >= r) {
              break;
            }

            var _tmp3 = leaves[l];
            leaves[l] = leaves[r];
            leaves[r] = _tmp3;
            ++l;
            --r;
          }
        }

        return l;
      }
    }]);

    return oimo_collision_broadphase_bvh_BvhStrategy;
  }();

  oimo.collision.broadphase.bvh.BvhTree = /*#__PURE__*/function () {
    function oimo_collision_broadphase_bvh_BvhTree() {
      _classCallCheck(this, oimo_collision_broadphase_bvh_BvhTree);

      this._root = null;
      this._numLeaves = 0;
      this._strategy = new oimo.collision.broadphase.bvh.BvhStrategy();
      this._nodePool = null;
      this.leafList = null;
      this.leafListLast = null;
      this.tmp = new Array(1024);
    }

    _createClass(oimo_collision_broadphase_bvh_BvhTree, [{
      key: "_print",
      value: function _print(root, indent) {
        if (indent == null) {
          indent = "";
        }

        if (root == null) {
          return;
        }

        if (root._height == 0) {
          console.log("src/oimo/collision/broadphase/bvh/BvhTree.hx:39:", indent + root._proxy._id);
        } else {
          this._print(root._children[0], indent + "  ");

          var tmp;
          var sizeX;
          var sizeY;
          var sizeZ;
          sizeX = root._aabbMaxX - root._aabbMinX;
          sizeY = root._aabbMaxY - root._aabbMinY;
          sizeZ = root._aabbMaxZ - root._aabbMinZ;
          var y = sizeY;
          var z = sizeZ;

          if (sizeX * (y + z) + y * z > 0) {
            var _sizeX;

            var _sizeY;

            var _sizeZ;

            _sizeX = root._aabbMaxX - root._aabbMinX;
            _sizeY = root._aabbMaxY - root._aabbMinY;
            _sizeZ = root._aabbMaxZ - root._aabbMinZ;
            var _y = _sizeY;
            var _z = _sizeZ;
            tmp = ((_sizeX * (_y + _z) + _y * _z) * 1000 + 0.5 | 0) / 1000;
          } else {
            var _sizeX2;

            var _sizeY2;

            var _sizeZ2;

            _sizeX2 = root._aabbMaxX - root._aabbMinX;
            _sizeY2 = root._aabbMaxY - root._aabbMinY;
            _sizeZ2 = root._aabbMaxZ - root._aabbMinZ;
            var _y2 = _sizeY2;
            var _z2 = _sizeZ2;
            tmp = ((_sizeX2 * (_y2 + _z2) + _y2 * _z2) * 1000 - 0.5 | 0) / 1000;
          }

          console.log("src/oimo/collision/broadphase/bvh/BvhTree.hx:42:", indent + "#" + root._height + ", " + tmp);

          this._print(root._children[1], indent + "  ");
        }
      }
    }, {
      key: "_getBalance",
      value: function _getBalance() {
        return this.getBalanceRecursive(this._root);
      }
    }, {
      key: "deleteRecursive",
      value: function deleteRecursive(root) {
        if (root._height == 0) {
          var prev = root._prevLeaf;
          var next = root._nextLeaf;

          if (prev != null) {
            prev._nextLeaf = next;
          }

          if (next != null) {
            next._prevLeaf = prev;
          }

          if (root == this.leafList) {
            this.leafList = this.leafList._nextLeaf;
          }

          if (root == this.leafListLast) {
            this.leafListLast = this.leafListLast._prevLeaf;
          }

          root._nextLeaf = null;
          root._prevLeaf = null;
          root._proxy._leaf = null;
          root._next = null;
          root._childIndex = 0;
          root._children[0] = null;
          root._children[1] = null;
          root._childIndex = 0;
          root._parent = null;
          root._height = 0;
          root._proxy = null;
          root._next = this._nodePool;
          this._nodePool = root;
          return;
        }

        this.deleteRecursive(root._children[0]);
        this.deleteRecursive(root._children[1]);
        root._next = null;
        root._childIndex = 0;
        root._children[0] = null;
        root._children[1] = null;
        root._childIndex = 0;
        root._parent = null;
        root._height = 0;
        root._proxy = null;
        root._next = this._nodePool;
        this._nodePool = root;
      }
    }, {
      key: "decomposeRecursive",
      value: function decomposeRecursive(root) {
        if (root._height == 0) {
          root._childIndex = 0;
          root._parent = null;
          return;
        }

        this.decomposeRecursive(root._children[0]);
        this.decomposeRecursive(root._children[1]);
        root._next = null;
        root._childIndex = 0;
        root._children[0] = null;
        root._children[1] = null;
        root._childIndex = 0;
        root._parent = null;
        root._height = 0;
        root._proxy = null;
        root._next = this._nodePool;
        this._nodePool = root;
      }
    }, {
      key: "buildTopDownRecursive",
      value: function buildTopDownRecursive(leaves, from, until) {
        if (until - from == 1) {
          var leaf = leaves[from];
          var proxy = leaf._proxy;
          leaf._aabbMinX = proxy._aabbMinX;
          leaf._aabbMinY = proxy._aabbMinY;
          leaf._aabbMinZ = proxy._aabbMinZ;
          leaf._aabbMaxX = proxy._aabbMaxX;
          leaf._aabbMaxY = proxy._aabbMaxY;
          leaf._aabbMaxZ = proxy._aabbMaxZ;
          return leaf;
        }

        var splitAt = this._strategy._splitLeaves(leaves, from, until);

        var child1 = this.buildTopDownRecursive(leaves, from, splitAt);
        var child2 = this.buildTopDownRecursive(leaves, splitAt, until);
        var first = this._nodePool;

        if (first != null) {
          this._nodePool = first._next;
          first._next = null;
        } else {
          first = new oimo.collision.broadphase.bvh.BvhNode();
        }

        var parent = first;
        parent._children[0] = child1;
        child1._parent = parent;
        child1._childIndex = 0;
        parent._children[1] = child2;
        child2._parent = parent;
        child2._childIndex = 1;
        var c1 = parent._children[0];
        var c2 = parent._children[1];
        parent._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
        parent._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
        parent._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
        parent._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
        parent._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
        parent._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
        var h1 = parent._children[0]._height;
        var h2 = parent._children[1]._height;
        parent._height = (h1 > h2 ? h1 : h2) + 1;
        return parent;
      }
    }, {
      key: "getBalanceRecursive",
      value: function getBalanceRecursive(root) {
        if (root == null || root._height == 0) {
          return 0;
        }

        var balance = root._children[0]._height - root._children[1]._height;

        if (balance < 0) {
          balance = -balance;
        }

        return balance + this.getBalanceRecursive(root._children[0]) + this.getBalanceRecursive(root._children[1]);
      }
    }]);

    return oimo_collision_broadphase_bvh_BvhTree;
  }();

  oimo.collision.geometry.Aabb = /*#__PURE__*/function () {
    function oimo_collision_geometry_Aabb() {
      _classCallCheck(this, oimo_collision_geometry_Aabb);

      this._minX = 0;
      this._minY = 0;
      this._minZ = 0;
      this._maxX = 0;
      this._maxY = 0;
      this._maxZ = 0;
    }

    _createClass(oimo_collision_geometry_Aabb, [{
      key: "init",
      value: function init(min, max) {
        this._minX = min.x;
        this._minY = min.y;
        this._minZ = min.z;
        this._maxX = max.x;
        this._maxY = max.y;
        this._maxZ = max.z;
        return this;
      }
    }, {
      key: "getMin",
      value: function getMin() {
        var min = new oimo.common.Vec3();
        min.x = this._minX;
        min.y = this._minY;
        min.z = this._minZ;
        return min;
      }
    }, {
      key: "getMinTo",
      value: function getMinTo(min) {
        min.x = this._minX;
        min.y = this._minY;
        min.z = this._minZ;
      }
    }, {
      key: "setMin",
      value: function setMin(min) {
        this._minX = min.x;
        this._minY = min.y;
        this._minZ = min.z;
        return this;
      }
    }, {
      key: "getMax",
      value: function getMax() {
        var max = new oimo.common.Vec3();
        max.x = this._maxX;
        max.y = this._maxY;
        max.z = this._maxZ;
        return max;
      }
    }, {
      key: "getMaxTo",
      value: function getMaxTo(max) {
        max.x = this._maxX;
        max.y = this._maxY;
        max.z = this._maxZ;
      }
    }, {
      key: "setMax",
      value: function setMax(max) {
        this._maxX = max.x;
        this._maxY = max.y;
        this._maxZ = max.z;
        return this;
      }
    }, {
      key: "getCenter",
      value: function getCenter() {
        var v = new oimo.common.Vec3();
        var cX;
        var cY;
        var cZ;
        cX = this._minX + this._maxX;
        cY = this._minY + this._maxY;
        cZ = this._minZ + this._maxZ;
        cX *= 0.5;
        cY *= 0.5;
        cZ *= 0.5;
        v.x = cX;
        v.y = cY;
        v.z = cZ;
        return v;
      }
    }, {
      key: "getCenterTo",
      value: function getCenterTo(center) {
        var cX;
        var cY;
        var cZ;
        cX = this._minX + this._maxX;
        cY = this._minY + this._maxY;
        cZ = this._minZ + this._maxZ;
        cX *= 0.5;
        cY *= 0.5;
        cZ *= 0.5;
        center.x = cX;
        center.y = cY;
        center.z = cZ;
      }
    }, {
      key: "getExtents",
      value: function getExtents() {
        var v = new oimo.common.Vec3();
        var cX;
        var cY;
        var cZ;
        cX = this._maxX - this._minX;
        cY = this._maxY - this._minY;
        cZ = this._maxZ - this._minZ;
        cX *= 0.5;
        cY *= 0.5;
        cZ *= 0.5;
        v.x = cX;
        v.y = cY;
        v.z = cZ;
        return v;
      }
    }, {
      key: "getExtentsTo",
      value: function getExtentsTo(halfExtents) {
        var cX;
        var cY;
        var cZ;
        cX = this._maxX - this._minX;
        cY = this._maxY - this._minY;
        cZ = this._maxZ - this._minZ;
        cX *= 0.5;
        cY *= 0.5;
        cZ *= 0.5;
        halfExtents.x = cX;
        halfExtents.y = cY;
        halfExtents.z = cZ;
      }
    }, {
      key: "combine",
      value: function combine(other) {
        this._minX = this._minX < other._minX ? this._minX : other._minX;
        this._minY = this._minY < other._minY ? this._minY : other._minY;
        this._minZ = this._minZ < other._minZ ? this._minZ : other._minZ;
        this._maxX = this._maxX > other._maxX ? this._maxX : other._maxX;
        this._maxY = this._maxY > other._maxY ? this._maxY : other._maxY;
        this._maxZ = this._maxZ > other._maxZ ? this._maxZ : other._maxZ;
        return this;
      }
    }, {
      key: "combined",
      value: function combined(other) {
        var aabb = new oimo.collision.geometry.Aabb();
        aabb._minX = this._minX < other._minX ? this._minX : other._minX;
        aabb._minY = this._minY < other._minY ? this._minY : other._minY;
        aabb._minZ = this._minZ < other._minZ ? this._minZ : other._minZ;
        aabb._maxX = this._maxX > other._maxX ? this._maxX : other._maxX;
        aabb._maxY = this._maxY > other._maxY ? this._maxY : other._maxY;
        aabb._maxZ = this._maxZ > other._maxZ ? this._maxZ : other._maxZ;
        return aabb;
      }
    }, {
      key: "overlap",
      value: function overlap(other) {
        if (this._minX < other._maxX && this._maxX > other._minX && this._minY < other._maxY && this._maxY > other._minY && this._minZ < other._maxZ) {
          return this._maxZ > other._minZ;
        } else {
          return false;
        }
      }
    }, {
      key: "getIntersection",
      value: function getIntersection(other) {
        var aabb = new oimo.collision.geometry.Aabb();
        aabb._minX = this._minX > other._minX ? this._minX : other._minX;
        aabb._minY = this._minY > other._minY ? this._minY : other._minY;
        aabb._minZ = this._minZ > other._minZ ? this._minZ : other._minZ;
        aabb._maxX = this._maxX < other._maxX ? this._maxX : other._maxX;
        aabb._maxY = this._maxY < other._maxY ? this._maxY : other._maxY;
        aabb._maxZ = this._maxZ < other._maxZ ? this._maxZ : other._maxZ;
        return aabb;
      }
    }, {
      key: "getIntersectionTo",
      value: function getIntersectionTo(other, intersection) {
        intersection._minX = this._minX > other._minX ? this._minX : other._minX;
        intersection._minY = this._minY > other._minY ? this._minY : other._minY;
        intersection._minZ = this._minZ > other._minZ ? this._minZ : other._minZ;
        intersection._maxX = this._maxX < other._maxX ? this._maxX : other._maxX;
        intersection._maxY = this._maxY < other._maxY ? this._maxY : other._maxY;
        intersection._maxZ = this._maxZ < other._maxZ ? this._maxZ : other._maxZ;
      }
    }, {
      key: "copyFrom",
      value: function copyFrom(aabb) {
        this._minX = aabb._minX;
        this._minY = aabb._minY;
        this._minZ = aabb._minZ;
        this._maxX = aabb._maxX;
        this._maxY = aabb._maxY;
        this._maxZ = aabb._maxZ;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        var aabb = new oimo.collision.geometry.Aabb();
        aabb._minX = this._minX;
        aabb._minY = this._minY;
        aabb._minZ = this._minZ;
        aabb._maxX = this._maxX;
        aabb._maxY = this._maxY;
        aabb._maxZ = this._maxZ;
        return aabb;
      }
    }]);

    return oimo_collision_geometry_Aabb;
  }();

  oimo.collision.geometry.BoxGeometry = /*#__PURE__*/function (_oimo$collision$geome4) {
    _inherits(oimo_collision_geometry_BoxGeometry, _oimo$collision$geome4);

    var _super7 = _createSuper(oimo_collision_geometry_BoxGeometry);

    function oimo_collision_geometry_BoxGeometry(halfExtents) {
      var _this47;

      _classCallCheck(this, oimo_collision_geometry_BoxGeometry);

      _this47 = _super7.call(this, 1);
      _this47._halfExtentsX = halfExtents.x;
      _this47._halfExtentsY = halfExtents.y;
      _this47._halfExtentsZ = halfExtents.z;
      _this47._halfAxisXX = halfExtents.x;
      _this47._halfAxisXY = 0;
      _this47._halfAxisXZ = 0;
      _this47._halfAxisYX = 0;
      _this47._halfAxisYY = halfExtents.y;
      _this47._halfAxisYZ = 0;
      _this47._halfAxisZX = 0;
      _this47._halfAxisZY = 0;
      _this47._halfAxisZZ = halfExtents.z;

      _this47._updateMass();

      var minHalfExtents = halfExtents.x < halfExtents.y ? halfExtents.z < halfExtents.x ? halfExtents.z : halfExtents.x : halfExtents.z < halfExtents.y ? halfExtents.z : halfExtents.y;

      if (_this47._gjkMargin > minHalfExtents * 0.2) {
        _this47._gjkMargin = minHalfExtents * 0.2;
      }

      return _this47;
    }

    _createClass(oimo_collision_geometry_BoxGeometry, [{
      key: "getHalfExtents",
      value: function getHalfExtents() {
        var v = new oimo.common.Vec3();
        v.x = this._halfExtentsX;
        v.y = this._halfExtentsY;
        v.z = this._halfExtentsZ;
        return v;
      }
    }, {
      key: "getHalfExtentsTo",
      value: function getHalfExtentsTo(halfExtents) {
        halfExtents.x = this._halfExtentsX;
        halfExtents.y = this._halfExtentsY;
        halfExtents.z = this._halfExtentsZ;
      }
    }, {
      key: "_updateMass",
      value: function _updateMass() {
        this._volume = 8 * (this._halfExtentsX * this._halfExtentsY * this._halfExtentsZ);
        var sqX;
        var sqY;
        var sqZ;
        sqX = this._halfExtentsX * this._halfExtentsX;
        sqY = this._halfExtentsY * this._halfExtentsY;
        sqZ = this._halfExtentsZ * this._halfExtentsZ;
        this._inertiaCoeff00 = 0.33333333333333331 * (sqY + sqZ);
        this._inertiaCoeff01 = 0;
        this._inertiaCoeff02 = 0;
        this._inertiaCoeff10 = 0;
        this._inertiaCoeff11 = 0.33333333333333331 * (sqZ + sqX);
        this._inertiaCoeff12 = 0;
        this._inertiaCoeff20 = 0;
        this._inertiaCoeff21 = 0;
        this._inertiaCoeff22 = 0.33333333333333331 * (sqX + sqY);
      }
    }, {
      key: "_computeAabb",
      value: function _computeAabb(aabb, tf) {
        var tfxX;
        var tfxY;
        var tfxZ;
        var tfyX;
        var tfyY;
        var tfyZ;
        var tfzX;
        var tfzY;
        var tfzZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf._rotation00 * this._halfAxisXX + tf._rotation01 * this._halfAxisXY + tf._rotation02 * this._halfAxisXZ;
        __tmp__Y = tf._rotation10 * this._halfAxisXX + tf._rotation11 * this._halfAxisXY + tf._rotation12 * this._halfAxisXZ;
        __tmp__Z = tf._rotation20 * this._halfAxisXX + tf._rotation21 * this._halfAxisXY + tf._rotation22 * this._halfAxisXZ;
        tfxX = __tmp__X;
        tfxY = __tmp__Y;
        tfxZ = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = tf._rotation00 * this._halfAxisYX + tf._rotation01 * this._halfAxisYY + tf._rotation02 * this._halfAxisYZ;
        __tmp__Y1 = tf._rotation10 * this._halfAxisYX + tf._rotation11 * this._halfAxisYY + tf._rotation12 * this._halfAxisYZ;
        __tmp__Z1 = tf._rotation20 * this._halfAxisYX + tf._rotation21 * this._halfAxisYY + tf._rotation22 * this._halfAxisYZ;
        tfyX = __tmp__X1;
        tfyY = __tmp__Y1;
        tfyZ = __tmp__Z1;

        var __tmp__X2;

        var __tmp__Y2;

        var __tmp__Z2;

        __tmp__X2 = tf._rotation00 * this._halfAxisZX + tf._rotation01 * this._halfAxisZY + tf._rotation02 * this._halfAxisZZ;
        __tmp__Y2 = tf._rotation10 * this._halfAxisZX + tf._rotation11 * this._halfAxisZY + tf._rotation12 * this._halfAxisZZ;
        __tmp__Z2 = tf._rotation20 * this._halfAxisZX + tf._rotation21 * this._halfAxisZY + tf._rotation22 * this._halfAxisZZ;
        tfzX = __tmp__X2;
        tfzY = __tmp__Y2;
        tfzZ = __tmp__Z2;

        if (tfxX < 0) {
          tfxX = -tfxX;
        }

        if (tfxY < 0) {
          tfxY = -tfxY;
        }

        if (tfxZ < 0) {
          tfxZ = -tfxZ;
        }

        if (tfyX < 0) {
          tfyX = -tfyX;
        }

        if (tfyY < 0) {
          tfyY = -tfyY;
        }

        if (tfyZ < 0) {
          tfyZ = -tfyZ;
        }

        if (tfzX < 0) {
          tfzX = -tfzX;
        }

        if (tfzY < 0) {
          tfzY = -tfzY;
        }

        if (tfzZ < 0) {
          tfzZ = -tfzZ;
        }

        var tfsX;
        var tfsY;
        var tfsZ;
        tfsX = tfxX + tfyX;
        tfsY = tfxY + tfyY;
        tfsZ = tfxZ + tfyZ;
        tfsX += tfzX;
        tfsY += tfzY;
        tfsZ += tfzZ;
        aabb._minX = tf._positionX - tfsX;
        aabb._minY = tf._positionY - tfsY;
        aabb._minZ = tf._positionZ - tfsZ;
        aabb._maxX = tf._positionX + tfsX;
        aabb._maxY = tf._positionY + tfsY;
        aabb._maxZ = tf._positionZ + tfsZ;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        var gjkMarginsX;
        var gjkMarginsY;
        var gjkMarginsZ;
        var coreExtentsX;
        var coreExtentsY;
        var coreExtentsZ;
        gjkMarginsX = this._gjkMargin;
        gjkMarginsY = this._gjkMargin;
        gjkMarginsZ = this._gjkMargin;

        if (!(gjkMarginsX < this._halfExtentsX)) {
          gjkMarginsX = this._halfExtentsX;
        }

        if (!(gjkMarginsY < this._halfExtentsY)) {
          gjkMarginsY = this._halfExtentsY;
        }

        if (!(gjkMarginsZ < this._halfExtentsZ)) {
          gjkMarginsZ = this._halfExtentsZ;
        }

        coreExtentsX = this._halfExtentsX - gjkMarginsX;
        coreExtentsY = this._halfExtentsY - gjkMarginsY;
        coreExtentsZ = this._halfExtentsZ - gjkMarginsZ;
        out.x = dir.x > 0 ? coreExtentsX : -coreExtentsX;
        out.y = dir.y > 0 ? coreExtentsY : -coreExtentsY;
        out.z = dir.z > 0 ? coreExtentsZ : -coreExtentsZ;
      }
    }, {
      key: "_rayCastLocal",
      value: function _rayCastLocal(beginX, beginY, beginZ, endX, endY, endZ, hit) {
        var halfW = this._halfExtentsX;
        var halfH = this._halfExtentsY;
        var halfD = this._halfExtentsZ;
        var dx = endX - beginX;
        var dy = endY - beginY;
        var dz = endZ - beginZ;
        var tminx = 0;
        var tminy = 0;
        var tminz = 0;
        var tmaxx = 1;
        var tmaxy = 1;
        var tmaxz = 1;

        if (dx > -1e-6 && dx < 1e-6) {
          if (beginX <= -halfW || beginX >= halfW) {
            return false;
          }
        } else {
          var invDx = 1 / dx;
          var t1 = (-halfW - beginX) * invDx;
          var t2 = (halfW - beginX) * invDx;

          if (t1 > t2) {
            var tmp = t1;
            t1 = t2;
            t2 = tmp;
          }

          if (t1 > 0) {
            tminx = t1;
          }

          if (t2 < 1) {
            tmaxx = t2;
          }
        }

        if (dy > -1e-6 && dy < 1e-6) {
          if (beginY <= -halfH || beginY >= halfH) {
            return false;
          }
        } else {
          var invDy = 1 / dy;

          var _t = (-halfH - beginY) * invDy;

          var _t2 = (halfH - beginY) * invDy;

          if (_t > _t2) {
            var _tmp4 = _t;
            _t = _t2;
            _t2 = _tmp4;
          }

          if (_t > 0) {
            tminy = _t;
          }

          if (_t2 < 1) {
            tmaxy = _t2;
          }
        }

        if (dz > -1e-6 && dz < 1e-6) {
          if (beginZ <= -halfD || beginZ >= halfD) {
            return false;
          }
        } else {
          var invDz = 1 / dz;

          var _t3 = (-halfD - beginZ) * invDz;

          var _t4 = (halfD - beginZ) * invDz;

          if (_t3 > _t4) {
            var _tmp5 = _t3;
            _t3 = _t4;
            _t4 = _tmp5;
          }

          if (_t3 > 0) {
            tminz = _t3;
          }

          if (_t4 < 1) {
            tmaxz = _t4;
          }
        }

        if (tminx >= 1 || tminy >= 1 || tminz >= 1 || tmaxx <= 0 || tmaxy <= 0 || tmaxz <= 0) {
          return false;
        }

        var min = tminx;
        var max = tmaxx;
        var hitDirection = 0;

        if (tminy > min) {
          min = tminy;
          hitDirection = 1;
        }

        if (tminz > min) {
          min = tminz;
          hitDirection = 2;
        }

        if (tmaxy < max) {
          max = tmaxy;
        }

        if (tmaxz < max) {
          max = tmaxz;
        }

        if (min > max) {
          return false;
        }

        if (min == 0) {
          return false;
        }

        switch (hitDirection) {
          case 0:
            hit.normal.init(dx > 0 ? -1 : 1, 0, 0);
            break;

          case 1:
            hit.normal.init(0, dy > 0 ? -1 : 1, 0);
            break;

          case 2:
            hit.normal.init(0, 0, dz > 0 ? -1 : 1);
            break;
        }

        hit.position.init(beginX + min * dx, beginY + min * dy, beginZ + min * dz);
        hit.fraction = min;
        return true;
      }
    }]);

    return oimo_collision_geometry_BoxGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  oimo.collision.geometry.CapsuleGeometry = /*#__PURE__*/function (_oimo$collision$geome5) {
    _inherits(oimo_collision_geometry_CapsuleGeometry, _oimo$collision$geome5);

    var _super8 = _createSuper(oimo_collision_geometry_CapsuleGeometry);

    function oimo_collision_geometry_CapsuleGeometry(radius, halfHeight) {
      var _this48;

      _classCallCheck(this, oimo_collision_geometry_CapsuleGeometry);

      _this48 = _super8.call(this, 4);
      _this48._radius = radius;
      _this48._halfHeight = halfHeight;
      _this48._gjkMargin = _this48._radius;

      _this48._updateMass();

      return _this48;
    }

    _createClass(oimo_collision_geometry_CapsuleGeometry, [{
      key: "getRadius",
      value: function getRadius() {
        return this._radius;
      }
    }, {
      key: "getHalfHeight",
      value: function getHalfHeight() {
        return this._halfHeight;
      }
    }, {
      key: "_updateMass",
      value: function _updateMass() {
        var r2 = this._radius * this._radius;
        var hh2 = this._halfHeight * this._halfHeight;
        var cylinderVolume = 6.28318530717958 * r2 * this._halfHeight;
        var sphereVolume = 3.14159265358979 * r2 * this._radius * 4 / 3;
        this._volume = cylinderVolume + sphereVolume;
        var invVolume = this._volume == 0 ? 0 : 1 / this._volume;
        var inertiaXZ = invVolume * (cylinderVolume * (r2 * 0.25 + hh2 / 3) + sphereVolume * (r2 * 0.4 + this._halfHeight * this._radius * 0.75 + hh2));
        this._inertiaCoeff00 = inertiaXZ;
        this._inertiaCoeff01 = 0;
        this._inertiaCoeff02 = 0;
        this._inertiaCoeff10 = 0;
        this._inertiaCoeff11 = invVolume * (cylinderVolume * r2 * 0.5 + sphereVolume * r2 * 0.4);
        this._inertiaCoeff12 = 0;
        this._inertiaCoeff20 = 0;
        this._inertiaCoeff21 = 0;
        this._inertiaCoeff22 = inertiaXZ;
      }
    }, {
      key: "_computeAabb",
      value: function _computeAabb(aabb, tf) {
        var radVecX;
        var radVecY;
        var radVecZ;
        radVecX = this._radius;
        radVecY = this._radius;
        radVecZ = this._radius;
        var axisX;
        var axisY;
        var axisZ;
        axisX = tf._rotation01;
        axisY = tf._rotation11;
        axisZ = tf._rotation21;

        if (axisX < 0) {
          axisX = -axisX;
        }

        if (axisY < 0) {
          axisY = -axisY;
        }

        if (axisZ < 0) {
          axisZ = -axisZ;
        }

        axisX *= this._halfHeight;
        axisY *= this._halfHeight;
        axisZ *= this._halfHeight;
        radVecX += axisX;
        radVecY += axisY;
        radVecZ += axisZ;
        aabb._minX = tf._positionX - radVecX;
        aabb._minY = tf._positionY - radVecY;
        aabb._minZ = tf._positionZ - radVecZ;
        aabb._maxX = tf._positionX + radVecX;
        aabb._maxY = tf._positionY + radVecY;
        aabb._maxZ = tf._positionZ + radVecZ;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        if (dir.y > 0) {
          out.init(0, this._halfHeight, 0);
        } else {
          out.init(0, -this._halfHeight, 0);
        }
      }
    }, {
      key: "_rayCastLocal",
      value: function _rayCastLocal(beginX, beginY, beginZ, endX, endY, endZ, hit) {
        var halfH = this._halfHeight;
        var dx = endX - beginX;
        var dz = endZ - beginZ;
        var tminxz = 0;
        var tmaxxz;
        var a = dx * dx + dz * dz;
        var b = beginX * dx + beginZ * dz;
        var c = beginX * beginX + beginZ * beginZ - this._radius * this._radius;
        var D = b * b - a * c;

        if (D < 0) {
          return false;
        }

        if (a > 0) {
          var sqrtD = Math.sqrt(D);
          tminxz = (-b - sqrtD) / a;
          tmaxxz = (-b + sqrtD) / a;

          if (tminxz >= 1 || tmaxxz <= 0) {
            return false;
          }
        } else {
          if (c >= 0) {
            return false;
          }

          tminxz = 0;
        }

        var crossY = beginY + (endY - beginY) * tminxz;
        var min;

        if (crossY > -halfH && crossY < halfH) {
          if (tminxz > 0) {
            min = tminxz;

            var _this = hit.normal.init(beginX + dx * min, 0, beginZ + dz * min);

            var invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);

            if (invLen > 0) {
              invLen = 1 / invLen;
            }

            _this.x *= invLen;
            _this.y *= invLen;
            _this.z *= invLen;
            hit.position.init(beginX + min * dx, crossY, beginZ + min * dz);
            hit.fraction = min;
            return true;
          }

          return false;
        }

        var spherePosX;
        var spherePosY;
        var spherePosZ;
        var sphereToBeginX;
        var sphereToBeginY;
        var sphereToBeginZ;
        spherePosX = 0;
        spherePosY = crossY < 0 ? -halfH : halfH;
        spherePosZ = 0;
        sphereToBeginX = beginX - spherePosX;
        sphereToBeginY = beginY - spherePosY;
        sphereToBeginZ = beginZ - spherePosZ;
        var dX;
        var dY;
        var dZ;
        dX = endX - beginX;
        dY = endY - beginY;
        dZ = endZ - beginZ;
        a = dX * dX + dY * dY + dZ * dZ;
        b = sphereToBeginX * dX + sphereToBeginY * dY + sphereToBeginZ * dZ;
        c = sphereToBeginX * sphereToBeginX + sphereToBeginY * sphereToBeginY + sphereToBeginZ * sphereToBeginZ - this._radius * this._radius;
        D = b * b - a * c;

        if (D < 0) {
          return false;
        }

        var t = (-b - Math.sqrt(D)) / a;

        if (t < 0 || t > 1) {
          return false;
        }

        var hitPosX;
        var hitPosY;
        var hitPosZ;
        var hitNormalX;
        var hitNormalY;
        var hitNormalZ;
        hitPosX = sphereToBeginX + dX * t;
        hitPosY = sphereToBeginY + dY * t;
        hitPosZ = sphereToBeginZ + dZ * t;
        var l = hitPosX * hitPosX + hitPosY * hitPosY + hitPosZ * hitPosZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        hitNormalX = hitPosX * l;
        hitNormalY = hitPosY * l;
        hitNormalZ = hitPosZ * l;
        hitPosX += spherePosX;
        hitPosY += spherePosY;
        hitPosZ += spherePosZ;
        var v = hit.position;
        v.x = hitPosX;
        v.y = hitPosY;
        v.z = hitPosZ;
        var v1 = hit.normal;
        v1.x = hitNormalX;
        v1.y = hitNormalY;
        v1.z = hitNormalZ;
        hit.fraction = t;
        return true;
      }
    }]);

    return oimo_collision_geometry_CapsuleGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  oimo.collision.geometry.ConeGeometry = /*#__PURE__*/function (_oimo$collision$geome6) {
    _inherits(oimo_collision_geometry_ConeGeometry, _oimo$collision$geome6);

    var _super9 = _createSuper(oimo_collision_geometry_ConeGeometry);

    function oimo_collision_geometry_ConeGeometry(radius, halfHeight) {
      var _this49;

      _classCallCheck(this, oimo_collision_geometry_ConeGeometry);

      _this49 = _super9.call(this, 3);
      _this49._radius = radius;
      _this49._halfHeight = halfHeight;
      _this49.sinTheta = radius / Math.sqrt(radius * radius + 4 * halfHeight * halfHeight);
      _this49.cosTheta = 2 * halfHeight / Math.sqrt(radius * radius + 4 * halfHeight * halfHeight);

      _this49._updateMass();

      return _this49;
    }

    _createClass(oimo_collision_geometry_ConeGeometry, [{
      key: "getRadius",
      value: function getRadius() {
        return this._radius;
      }
    }, {
      key: "getHalfHeight",
      value: function getHalfHeight() {
        return this._halfHeight;
      }
    }, {
      key: "_updateMass",
      value: function _updateMass() {
        var r2 = this._radius * this._radius;
        var h2 = this._halfHeight * this._halfHeight * 4;
        this._volume = 3.14159265358979 * r2 * this._halfHeight * 2 / 3;
        this._inertiaCoeff00 = 0.05 * (3 * r2 + 2 * h2);
        this._inertiaCoeff01 = 0;
        this._inertiaCoeff02 = 0;
        this._inertiaCoeff10 = 0;
        this._inertiaCoeff11 = 0.3 * r2;
        this._inertiaCoeff12 = 0;
        this._inertiaCoeff20 = 0;
        this._inertiaCoeff21 = 0;
        this._inertiaCoeff22 = 0.05 * (3 * r2 + 2 * h2);
      }
    }, {
      key: "_computeAabb",
      value: function _computeAabb(aabb, tf) {
        var axisX;
        var axisY;
        var axisZ;
        var axis2X;
        var axis2Y;
        var axis2Z;
        var ehX;
        var ehY;
        var ehZ;
        var erX;
        var erY;
        var erZ;
        axisX = tf._rotation01;
        axisY = tf._rotation11;
        axisZ = tf._rotation21;
        axis2X = axisX * axisX;
        axis2Y = axisY * axisY;
        axis2Z = axisZ * axisZ;
        erX = Math.sqrt(1 - axis2X);
        erY = Math.sqrt(1 - axis2Y);
        erZ = Math.sqrt(1 - axis2Z);
        erX *= this._radius;
        erY *= this._radius;
        erZ *= this._radius;
        ehX = axisX * this._halfHeight;
        ehY = axisY * this._halfHeight;
        ehZ = axisZ * this._halfHeight;
        var rminX;
        var rminY;
        var rminZ;
        var rmaxX;
        var rmaxY;
        var rmaxZ;
        rminX = -ehX;
        rminY = -ehY;
        rminZ = -ehZ;
        rminX -= erX;
        rminY -= erY;
        rminZ -= erZ;
        rmaxX = -ehX;
        rmaxY = -ehY;
        rmaxZ = -ehZ;
        rmaxX += erX;
        rmaxY += erY;
        rmaxZ += erZ;
        var maxX;
        var maxY;
        var maxZ;
        var minX;
        var minY;
        var minZ;
        maxX = rminX > rmaxX ? rminX : rmaxX;
        maxY = rminY > rmaxY ? rminY : rmaxY;
        maxZ = rminZ > rmaxZ ? rminZ : rmaxZ;

        if (!(maxX > ehX)) {
          maxX = ehX;
        }

        if (!(maxY > ehY)) {
          maxY = ehY;
        }

        if (!(maxZ > ehZ)) {
          maxZ = ehZ;
        }

        minX = rminX < rmaxX ? rminX : rmaxX;
        minY = rminY < rmaxY ? rminY : rmaxY;
        minZ = rminZ < rmaxZ ? rminZ : rmaxZ;

        if (!(minX < ehX)) {
          minX = ehX;
        }

        if (!(minY < ehY)) {
          minY = ehY;
        }

        if (!(minZ < ehZ)) {
          minZ = ehZ;
        }

        aabb._minX = tf._positionX + minX;
        aabb._minY = tf._positionY + minY;
        aabb._minZ = tf._positionZ + minZ;
        aabb._maxX = tf._positionX + maxX;
        aabb._maxY = tf._positionY + maxY;
        aabb._maxZ = tf._positionZ + maxZ;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        var dx = dir.x;
        var dy = dir.y;
        var dz = dir.z;

        if (dy > 0 && dy * dy > this.sinTheta * this.sinTheta * (dx * dx + dy * dy + dz * dz)) {
          out.init(0, this._halfHeight - this._gjkMargin / this.sinTheta, 0);

          if (out.y < 0) {
            out.y = 0;
          }

          return;
        }

        var rx = dir.x;
        var rz = dir.z;
        var len = rx * rx + rz * rz;
        var height = 2 * this._halfHeight;
        var coreRadius = (height - this._gjkMargin) / height * this._radius - this._gjkMargin / this.cosTheta;

        if (coreRadius < 0) {
          coreRadius = 0;
        }

        var invLen = len > 0 ? coreRadius / Math.sqrt(len) : 0;
        var coreHalfHeight = this._halfHeight - this._gjkMargin;

        if (coreHalfHeight < 0) {
          coreHalfHeight = 0;
        }

        out.x = rx * invLen;
        out.y = -coreHalfHeight;
        out.z = rz * invLen;
      }
    }, {
      key: "_rayCastLocal",
      value: function _rayCastLocal(beginX, beginY, beginZ, endX, endY, endZ, hit) {
        var p1y;
        var halfH = this._halfHeight;
        var dx = endX - beginX;
        var dy = endY - beginY;
        var dz = endZ - beginZ;
        var tminy = 0;
        var tmaxy = 1;

        if (dy > -1e-6 && dy < 1e-6) {
          if (beginY <= -halfH || beginY >= halfH) {
            return false;
          }
        } else {
          var invDy = 1 / dy;
          var t1 = (-halfH - beginY) * invDy;
          var t2 = (halfH - beginY) * invDy;

          if (t1 > t2) {
            var tmp = t1;
            t1 = t2;
            t2 = tmp;
          }

          if (t1 > 0) {
            tminy = t1;
          }

          if (t2 < 1) {
            tmaxy = t2;
          }
        }

        if (tminy >= 1 || tmaxy <= 0) {
          return false;
        }

        var tminxz = 0;
        var tmaxxz = 0;
        p1y = beginY - halfH;
        var cos2 = this.cosTheta * this.cosTheta;
        var a = cos2 * (dx * dx + dy * dy + dz * dz) - dy * dy;
        var b = cos2 * (beginX * dx + p1y * dy + beginZ * dz) - p1y * dy;
        var c = cos2 * (beginX * beginX + p1y * p1y + beginZ * beginZ) - p1y * p1y;
        var D = b * b - a * c;

        if (a != 0) {
          if (D < 0) {
            return false;
          }

          var sqrtD = Math.sqrt(D);

          if (a < 0) {
            if (dy > 0) {
              tminxz = 0;
              tmaxxz = (-b + sqrtD) / a;

              if (tmaxxz <= 0) {
                return false;
              }
            } else {
              tminxz = (-b - sqrtD) / a;
              tmaxxz = 1;

              if (tminxz >= 1) {
                return false;
              }
            }
          } else {
            tminxz = (-b - sqrtD) / a;
            tmaxxz = (-b + sqrtD) / a;

            if (tminxz >= 1 || tmaxxz <= 0) {
              return false;
            }
          }
        } else {
          var t = -c / (2 * b);

          if (b > 0) {
            tminxz = 0;
            tmaxxz = t;

            if (t <= 0) {
              return false;
            }
          } else {
            tminxz = t;
            tmaxxz = 1;

            if (t >= 1) {
              return false;
            }
          }
        }

        p1y += halfH;
        var min;

        if (tmaxxz <= tminy || tmaxy <= tminxz) {
          return false;
        }

        if (tminxz < tminy) {
          min = tminy;

          if (min == 0) {
            return false;
          }

          hit.normal.init(0, dy > 0 ? -1 : 1, 0);
        } else {
          min = tminxz;

          if (min == 0) {
            return false;
          }

          var _this = hit.normal.init(beginX + dx * min, 0, beginZ + dz * min);

          var invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);

          if (invLen > 0) {
            invLen = 1 / invLen;
          }

          _this.x *= invLen;
          _this.y *= invLen;
          _this.z *= invLen;
          var s = this.cosTheta;
          _this.x *= s;
          _this.y *= s;
          _this.z *= s;
          hit.normal.y += this.sinTheta;
        }

        hit.position.init(beginX + min * dx, p1y + min * dy, beginZ + min * dz);
        hit.fraction = min;
        return true;
      }
    }]);

    return oimo_collision_geometry_ConeGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  oimo.collision.geometry.ConvexHullGeometry = /*#__PURE__*/function (_oimo$collision$geome7) {
    _inherits(oimo_collision_geometry_ConvexHullGeometry, _oimo$collision$geome7);

    var _super10 = _createSuper(oimo_collision_geometry_ConvexHullGeometry);

    function oimo_collision_geometry_ConvexHullGeometry(vertices) {
      var _this50;

      _classCallCheck(this, oimo_collision_geometry_ConvexHullGeometry);

      _this50 = _super10.call(this, 5);
      _this50._numVertices = vertices.length;
      _this50._vertices = new Array(_this50._numVertices);
      _this50._tmpVertices = new Array(_this50._numVertices);
      var _g = 0;
      var _g1 = _this50._numVertices;

      while (_g < _g1) {
        var i = _g++;
        _this50._vertices[i] = vertices[i];
        _this50._tmpVertices[i] = new oimo.common.Vec3();
      }

      _this50._useGjkRayCast = true;

      _this50._updateMass();

      return _this50;
    }

    _createClass(oimo_collision_geometry_ConvexHullGeometry, [{
      key: "getVertices",
      value: function getVertices() {
        return this._vertices;
      }
    }, {
      key: "_updateMass",
      value: function _updateMass() {
        this._volume = 1;
        this._inertiaCoeff00 = 1;
        this._inertiaCoeff01 = 0;
        this._inertiaCoeff02 = 0;
        this._inertiaCoeff10 = 0;
        this._inertiaCoeff11 = 1;
        this._inertiaCoeff12 = 0;
        this._inertiaCoeff20 = 0;
        this._inertiaCoeff21 = 0;
        this._inertiaCoeff22 = 1;
        var minx = this._vertices[0].x;
        var miny = this._vertices[0].y;
        var minz = this._vertices[0].z;
        var maxx = this._vertices[0].x;
        var maxy = this._vertices[0].y;
        var maxz = this._vertices[0].z;
        var _g = 1;
        var _g1 = this._numVertices;

        while (_g < _g1) {
          var i = _g++;
          var vx = this._vertices[i].x;
          var vy = this._vertices[i].y;
          var vz = this._vertices[i].z;

          if (vx < minx) {
            minx = vx;
          } else if (vx > maxx) {
            maxx = vx;
          }

          if (vy < miny) {
            miny = vy;
          } else if (vy > maxy) {
            maxy = vy;
          }

          if (vz < minz) {
            minz = vz;
          } else if (vz > maxz) {
            maxz = vz;
          }
        }

        var sizex = maxx - minx;
        var sizey = maxy - miny;
        var sizez = maxz - minz;
        this._volume = sizex * sizey * sizez;
        var diffCog = ((minx + maxx) * (minx + maxx) + (miny + maxy) * (miny + maxy) + (minz + maxz) * (minz + maxz)) * 0.25;
        sizex = sizex * sizex * 0.25;
        sizey = sizey * sizey * 0.25;
        sizez = sizez * sizez * 0.25;
        this._inertiaCoeff00 = 0.33333333333333331 * (sizey + sizez) + diffCog;
        this._inertiaCoeff01 = 0;
        this._inertiaCoeff02 = 0;
        this._inertiaCoeff10 = 0;
        this._inertiaCoeff11 = 0.33333333333333331 * (sizez + sizex) + diffCog;
        this._inertiaCoeff12 = 0;
        this._inertiaCoeff20 = 0;
        this._inertiaCoeff21 = 0;
        this._inertiaCoeff22 = 0.33333333333333331 * (sizex + sizey) + diffCog;
      }
    }, {
      key: "_computeAabb",
      value: function _computeAabb(aabb, tf) {
        var minX;
        var minY;
        var minZ;
        var maxX;
        var maxY;
        var maxZ;
        var marginX;
        var marginY;
        var marginZ;
        marginX = this._gjkMargin;
        marginY = this._gjkMargin;
        marginZ = this._gjkMargin;
        var localVX;
        var localVY;
        var localVZ;
        var v = this._vertices[0];
        localVX = v.x;
        localVY = v.y;
        localVZ = v.z;
        var worldVX;
        var worldVY;
        var worldVZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf._rotation00 * localVX + tf._rotation01 * localVY + tf._rotation02 * localVZ;
        __tmp__Y = tf._rotation10 * localVX + tf._rotation11 * localVY + tf._rotation12 * localVZ;
        __tmp__Z = tf._rotation20 * localVX + tf._rotation21 * localVY + tf._rotation22 * localVZ;
        worldVX = __tmp__X;
        worldVY = __tmp__Y;
        worldVZ = __tmp__Z;
        worldVX += tf._positionX;
        worldVY += tf._positionY;
        worldVZ += tf._positionZ;
        minX = worldVX;
        minY = worldVY;
        minZ = worldVZ;
        maxX = worldVX;
        maxY = worldVY;
        maxZ = worldVZ;
        var _g = 1;
        var _g1 = this._numVertices;

        while (_g < _g1) {
          var _v2 = this._vertices[_g++];
          localVX = _v2.x;
          localVY = _v2.y;
          localVZ = _v2.z;

          var _tmp__X3 = void 0;

          var _tmp__Y3 = void 0;

          var _tmp__Z3 = void 0;

          _tmp__X3 = tf._rotation00 * localVX + tf._rotation01 * localVY + tf._rotation02 * localVZ;
          _tmp__Y3 = tf._rotation10 * localVX + tf._rotation11 * localVY + tf._rotation12 * localVZ;
          _tmp__Z3 = tf._rotation20 * localVX + tf._rotation21 * localVY + tf._rotation22 * localVZ;
          worldVX = _tmp__X3;
          worldVY = _tmp__Y3;
          worldVZ = _tmp__Z3;
          worldVX += tf._positionX;
          worldVY += tf._positionY;
          worldVZ += tf._positionZ;

          if (!(minX < worldVX)) {
            minX = worldVX;
          }

          if (!(minY < worldVY)) {
            minY = worldVY;
          }

          if (!(minZ < worldVZ)) {
            minZ = worldVZ;
          }

          if (!(maxX > worldVX)) {
            maxX = worldVX;
          }

          if (!(maxY > worldVY)) {
            maxY = worldVY;
          }

          if (!(maxZ > worldVZ)) {
            maxZ = worldVZ;
          }
        }

        aabb._minX = minX - marginX;
        aabb._minY = minY - marginY;
        aabb._minZ = minZ - marginZ;
        aabb._maxX = maxX + marginX;
        aabb._maxY = maxY + marginY;
        aabb._maxZ = maxZ + marginZ;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        var _this = this._vertices[0];
        var maxDot = _this.x * dir.x + _this.y * dir.y + _this.z * dir.z;
        var maxIndex = 0;
        var _g = 1;
        var _g1 = this._numVertices;

        while (_g < _g1) {
          var i = _g++;
          var _this51 = this._vertices[i];
          var dot = _this51.x * dir.x + _this51.y * dir.y + _this51.z * dir.z;

          if (dot > maxDot) {
            maxDot = dot;
            maxIndex = i;
          }
        }

        var v = this._vertices[maxIndex];
        out.x = v.x;
        out.y = v.y;
        out.z = v.z;
      }
    }]);

    return oimo_collision_geometry_ConvexHullGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  oimo.collision.geometry.CylinderGeometry = /*#__PURE__*/function (_oimo$collision$geome8) {
    _inherits(oimo_collision_geometry_CylinderGeometry, _oimo$collision$geome8);

    var _super11 = _createSuper(oimo_collision_geometry_CylinderGeometry);

    function oimo_collision_geometry_CylinderGeometry(radius, halfHeight) {
      var _this52;

      _classCallCheck(this, oimo_collision_geometry_CylinderGeometry);

      _this52 = _super11.call(this, 2);
      _this52._radius = radius;
      _this52._halfHeight = halfHeight;

      _this52._updateMass();

      return _this52;
    }

    _createClass(oimo_collision_geometry_CylinderGeometry, [{
      key: "getRadius",
      value: function getRadius() {
        return this._radius;
      }
    }, {
      key: "getHalfHeight",
      value: function getHalfHeight() {
        return this._halfHeight;
      }
    }, {
      key: "_updateMass",
      value: function _updateMass() {
        var r2 = this._radius * this._radius;
        var h2 = this._halfHeight * this._halfHeight * 4;
        this._volume = 3.14159265358979 * r2 * this._halfHeight * 2;
        this._inertiaCoeff00 = 0.083333333333333329 * (3 * r2 + h2);
        this._inertiaCoeff01 = 0;
        this._inertiaCoeff02 = 0;
        this._inertiaCoeff10 = 0;
        this._inertiaCoeff11 = 0.5 * r2;
        this._inertiaCoeff12 = 0;
        this._inertiaCoeff20 = 0;
        this._inertiaCoeff21 = 0;
        this._inertiaCoeff22 = 0.083333333333333329 * (3 * r2 + h2);
      }
    }, {
      key: "_computeAabb",
      value: function _computeAabb(aabb, tf) {
        var axisX;
        var axisY;
        var axisZ;
        var axis2X;
        var axis2Y;
        var axis2Z;
        var ehX;
        var ehY;
        var ehZ;
        var erX;
        var erY;
        var erZ;
        axisX = tf._rotation01;
        axisY = tf._rotation11;
        axisZ = tf._rotation21;

        if (axisX < 0) {
          axisX = -axisX;
        }

        if (axisY < 0) {
          axisY = -axisY;
        }

        if (axisZ < 0) {
          axisZ = -axisZ;
        }

        axis2X = axisX * axisX;
        axis2Y = axisY * axisY;
        axis2Z = axisZ * axisZ;
        erX = Math.sqrt(1 - axis2X);
        erY = Math.sqrt(1 - axis2Y);
        erZ = Math.sqrt(1 - axis2Z);
        erX *= this._radius;
        erY *= this._radius;
        erZ *= this._radius;
        ehX = axisX * this._halfHeight;
        ehY = axisY * this._halfHeight;
        ehZ = axisZ * this._halfHeight;
        var maxX;
        var maxY;
        var maxZ;
        maxX = erX + ehX;
        maxY = erY + ehY;
        maxZ = erZ + ehZ;
        aabb._minX = tf._positionX - maxX;
        aabb._minY = tf._positionY - maxY;
        aabb._minZ = tf._positionZ - maxZ;
        aabb._maxX = tf._positionX + maxX;
        aabb._maxY = tf._positionY + maxY;
        aabb._maxZ = tf._positionZ + maxZ;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        var rx = dir.x;
        var rz = dir.z;
        var len = rx * rx + rz * rz;
        var coreRadius = this._radius - this._gjkMargin;

        if (coreRadius < 0) {
          coreRadius = 0;
        }

        var invLen = len > 0 ? coreRadius / Math.sqrt(len) : 0;
        var coreHeight = this._halfHeight - this._gjkMargin;

        if (coreHeight < 0) {
          coreHeight = 0;
        }

        out.x = rx * invLen;
        out.y = dir.y > 0 ? coreHeight : -coreHeight;
        out.z = rz * invLen;
      }
    }, {
      key: "_rayCastLocal",
      value: function _rayCastLocal(beginX, beginY, beginZ, endX, endY, endZ, hit) {
        var halfH = this._halfHeight;
        var dx = endX - beginX;
        var dy = endY - beginY;
        var dz = endZ - beginZ;
        var tminy = 0;
        var tmaxy = 1;

        if (dy > -1e-6 && dy < 1e-6) {
          if (beginY <= -halfH || beginY >= halfH) {
            return false;
          }
        } else {
          var invDy = 1 / dy;
          var t1 = (-halfH - beginY) * invDy;
          var t2 = (halfH - beginY) * invDy;

          if (t1 > t2) {
            var tmp = t1;
            t1 = t2;
            t2 = tmp;
          }

          if (t1 > 0) {
            tminy = t1;
          }

          if (t2 < 1) {
            tmaxy = t2;
          }
        }

        if (tminy >= 1 || tmaxy <= 0) {
          return false;
        }

        var tminxz = 0;
        var tmaxxz;
        var a = dx * dx + dz * dz;
        var b = beginX * dx + beginZ * dz;
        var c = beginX * beginX + beginZ * beginZ - this._radius * this._radius;
        var D = b * b - a * c;

        if (D < 0) {
          return false;
        }

        if (a > 0) {
          var sqrtD = Math.sqrt(D);
          tminxz = (-b - sqrtD) / a;
          tmaxxz = (-b + sqrtD) / a;

          if (tminxz >= 1 || tmaxxz <= 0) {
            return false;
          }
        } else {
          if (c >= 0) {
            return false;
          }

          tminxz = 0;
          tmaxxz = 1;
        }

        var min;

        if (tmaxxz <= tminy || tmaxy <= tminxz) {
          return false;
        }

        if (tminxz < tminy) {
          min = tminy;

          if (min == 0) {
            return false;
          }

          hit.normal.init(0, dy > 0 ? -1 : 1, 0);
        } else {
          min = tminxz;

          if (min == 0) {
            return false;
          }

          var _this = hit.normal.init(beginX + dx * min, 0, beginZ + dz * min);

          var invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);

          if (invLen > 0) {
            invLen = 1 / invLen;
          }

          _this.x *= invLen;
          _this.y *= invLen;
          _this.z *= invLen;
        }

        hit.position.init(beginX + min * dx, beginY + min * dy, beginZ + min * dz);
        hit.fraction = min;
        return true;
      }
    }]);

    return oimo_collision_geometry_CylinderGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  oimo.collision.geometry.GeometryType = /*#__PURE__*/_createClass(function oimo_collision_geometry_GeometryType() {
    _classCallCheck(this, oimo_collision_geometry_GeometryType);
  });
  oimo.collision.geometry.RayCastHit = /*#__PURE__*/_createClass(function oimo_collision_geometry_RayCastHit() {
    _classCallCheck(this, oimo_collision_geometry_RayCastHit);

    this.position = new oimo.common.Vec3();
    this.normal = new oimo.common.Vec3();
    this.fraction = 0;
  });

  oimo.collision.geometry.SphereGeometry = /*#__PURE__*/function (_oimo$collision$geome9) {
    _inherits(oimo_collision_geometry_SphereGeometry, _oimo$collision$geome9);

    var _super12 = _createSuper(oimo_collision_geometry_SphereGeometry);

    function oimo_collision_geometry_SphereGeometry(radius) {
      var _this53;

      _classCallCheck(this, oimo_collision_geometry_SphereGeometry);

      _this53 = _super12.call(this, 0);
      _this53._radius = radius;
      _this53._gjkMargin = _this53._radius;

      _this53._updateMass();

      return _this53;
    }

    _createClass(oimo_collision_geometry_SphereGeometry, [{
      key: "getRadius",
      value: function getRadius() {
        return this._radius;
      }
    }, {
      key: "_updateMass",
      value: function _updateMass() {
        this._volume = 4.1887902047863861 * this._radius * this._radius * this._radius;
        this._inertiaCoeff00 = 0.4 * this._radius * this._radius;
        this._inertiaCoeff01 = 0;
        this._inertiaCoeff02 = 0;
        this._inertiaCoeff10 = 0;
        this._inertiaCoeff11 = 0.4 * this._radius * this._radius;
        this._inertiaCoeff12 = 0;
        this._inertiaCoeff20 = 0;
        this._inertiaCoeff21 = 0;
        this._inertiaCoeff22 = 0.4 * this._radius * this._radius;
      }
    }, {
      key: "_computeAabb",
      value: function _computeAabb(aabb, tf) {
        var radVecX;
        var radVecY;
        var radVecZ;
        radVecX = this._radius;
        radVecY = this._radius;
        radVecZ = this._radius;
        aabb._minX = tf._positionX - radVecX;
        aabb._minY = tf._positionY - radVecY;
        aabb._minZ = tf._positionZ - radVecZ;
        aabb._maxX = tf._positionX + radVecX;
        aabb._maxY = tf._positionY + radVecY;
        aabb._maxZ = tf._positionZ + radVecZ;
      }
    }, {
      key: "computeLocalSupportingVertex",
      value: function computeLocalSupportingVertex(dir, out) {
        out.zero();
      }
    }, {
      key: "_rayCastLocal",
      value: function _rayCastLocal(beginX, beginY, beginZ, endX, endY, endZ, hit) {
        var dX;
        var dY;
        var dZ;
        dX = endX - beginX;
        dY = endY - beginY;
        dZ = endZ - beginZ;
        var a = dX * dX + dY * dY + dZ * dZ;
        var b = beginX * dX + beginY * dY + beginZ * dZ;
        var D = b * b - a * (beginX * beginX + beginY * beginY + beginZ * beginZ - this._radius * this._radius);

        if (D < 0) {
          return false;
        }

        var t = (-b - Math.sqrt(D)) / a;

        if (t < 0 || t > 1) {
          return false;
        }

        var hitPosX;
        var hitPosY;
        var hitPosZ;
        var hitNormalX;
        var hitNormalY;
        var hitNormalZ;
        hitPosX = beginX + dX * t;
        hitPosY = beginY + dY * t;
        hitPosZ = beginZ + dZ * t;
        var l = hitPosX * hitPosX + hitPosY * hitPosY + hitPosZ * hitPosZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        hitNormalX = hitPosX * l;
        hitNormalY = hitPosY * l;
        hitNormalZ = hitPosZ * l;
        var v = hit.position;
        v.x = hitPosX;
        v.y = hitPosY;
        v.z = hitPosZ;
        var v1 = hit.normal;
        v1.x = hitNormalX;
        v1.y = hitNormalY;
        v1.z = hitNormalZ;
        hit.fraction = t;
        return true;
      }
    }]);

    return oimo_collision_geometry_SphereGeometry;
  }(oimo.collision.geometry.ConvexGeometry);

  if (!oimo.collision.narrowphase) oimo.collision.narrowphase = {};

  oimo.collision.narrowphase.CollisionMatrix = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_CollisionMatrix() {
      _classCallCheck(this, oimo_collision_narrowphase_CollisionMatrix);

      this.detectors = new Array(8);
      this.detectors[0] = new Array(8);
      this.detectors[1] = new Array(8);
      this.detectors[2] = new Array(8);
      this.detectors[3] = new Array(8);
      this.detectors[4] = new Array(8);
      this.detectors[5] = new Array(8);
      var gjkEpaDetector = new oimo.collision.narrowphase.detector.GjkEpaDetector();
      this.detectors[0][0] = new oimo.collision.narrowphase.detector.SphereSphereDetector();
      this.detectors[0][1] = new oimo.collision.narrowphase.detector.SphereBoxDetector(false);
      this.detectors[0][2] = gjkEpaDetector;
      this.detectors[0][3] = gjkEpaDetector;
      this.detectors[0][4] = new oimo.collision.narrowphase.detector.SphereCapsuleDetector(false);
      this.detectors[0][5] = gjkEpaDetector;
      this.detectors[1][0] = new oimo.collision.narrowphase.detector.SphereBoxDetector(true);
      this.detectors[1][1] = new oimo.collision.narrowphase.detector.BoxBoxDetector();
      this.detectors[1][2] = gjkEpaDetector;
      this.detectors[1][3] = gjkEpaDetector;
      this.detectors[1][4] = gjkEpaDetector;
      this.detectors[1][5] = gjkEpaDetector;
      this.detectors[2][0] = gjkEpaDetector;
      this.detectors[2][1] = gjkEpaDetector;
      this.detectors[2][2] = gjkEpaDetector;
      this.detectors[2][3] = gjkEpaDetector;
      this.detectors[2][4] = gjkEpaDetector;
      this.detectors[2][5] = gjkEpaDetector;
      this.detectors[3][0] = gjkEpaDetector;
      this.detectors[3][1] = gjkEpaDetector;
      this.detectors[3][2] = gjkEpaDetector;
      this.detectors[3][3] = gjkEpaDetector;
      this.detectors[3][4] = gjkEpaDetector;
      this.detectors[3][5] = gjkEpaDetector;
      this.detectors[4][0] = new oimo.collision.narrowphase.detector.SphereCapsuleDetector(true);
      this.detectors[4][1] = gjkEpaDetector;
      this.detectors[4][2] = gjkEpaDetector;
      this.detectors[4][3] = gjkEpaDetector;
      this.detectors[4][4] = new oimo.collision.narrowphase.detector.CapsuleCapsuleDetector();
      this.detectors[4][5] = gjkEpaDetector;
      this.detectors[5][0] = gjkEpaDetector;
      this.detectors[5][1] = gjkEpaDetector;
      this.detectors[5][2] = gjkEpaDetector;
      this.detectors[5][3] = gjkEpaDetector;
      this.detectors[5][4] = gjkEpaDetector;
      this.detectors[5][5] = gjkEpaDetector;
    }

    _createClass(oimo_collision_narrowphase_CollisionMatrix, [{
      key: "getDetector",
      value: function getDetector(geomType1, geomType2) {
        return this.detectors[geomType1][geomType2];
      }
    }]);

    return oimo_collision_narrowphase_CollisionMatrix;
  }();

  oimo.collision.narrowphase.DetectorResult = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_DetectorResult() {
      _classCallCheck(this, oimo_collision_narrowphase_DetectorResult);

      this.numPoints = 0;
      this.normal = new oimo.common.Vec3();
      this.points = new Array(oimo.common.Setting.maxManifoldPoints);
      this.incremental = false;
      var _g = 0;
      var _g1 = oimo.common.Setting.maxManifoldPoints;

      while (_g < _g1) {
        this.points[_g++] = new oimo.collision.narrowphase.DetectorResultPoint();
      }
    }

    _createClass(oimo_collision_narrowphase_DetectorResult, [{
      key: "getMaxDepth",
      value: function getMaxDepth() {
        var max = 0;
        var _g = 0;
        var _g1 = this.numPoints;

        while (_g < _g1) {
          var i = _g++;

          if (this.points[i].depth > max) {
            max = this.points[i].depth;
          }
        }

        return max;
      }
    }, {
      key: "clear",
      value: function clear() {
        this.numPoints = 0;
        var _g = 0;
        var _g1 = this.points;

        while (_g < _g1.length) {
          var p = _g1[_g];
          ++_g;
          p.position1.zero();
          p.position2.zero();
          p.depth = 0;
          p.id = 0;
        }

        this.normal.zero();
      }
    }]);

    return oimo_collision_narrowphase_DetectorResult;
  }();

  oimo.collision.narrowphase.DetectorResultPoint = /*#__PURE__*/_createClass(function oimo_collision_narrowphase_DetectorResultPoint() {
    _classCallCheck(this, oimo_collision_narrowphase_DetectorResultPoint);

    this.position1 = new oimo.common.Vec3();
    this.position2 = new oimo.common.Vec3();
    this.depth = 0;
    this.id = 0;
  });
  if (!oimo.collision.narrowphase.detector) oimo.collision.narrowphase.detector = {};

  oimo.collision.narrowphase.detector.Detector = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_Detector(swapped) {
      _classCallCheck(this, oimo_collision_narrowphase_detector_Detector);

      this.swapped = swapped;
    }

    _createClass(oimo_collision_narrowphase_detector_Detector, [{
      key: "setNormal",
      value: function setNormal(result, nX, nY, nZ) {
        var v = result.normal;
        v.x = nX;
        v.y = nY;
        v.z = nZ;

        if (this.swapped) {
          var _this = result.normal;
          _this.x = -_this.x;
          _this.y = -_this.y;
          _this.z = -_this.z;
        }
      }
    }, {
      key: "addPoint",
      value: function addPoint(result, pos1X, pos1Y, pos1Z, pos2X, pos2Y, pos2Z, depth, id) {
        var p = result.points[result.numPoints++];
        p.depth = depth;
        p.id = id;

        if (this.swapped) {
          var v = p.position1;
          v.x = pos2X;
          v.y = pos2Y;
          v.z = pos2Z;
          var v1 = p.position2;
          v1.x = pos1X;
          v1.y = pos1Y;
          v1.z = pos1Z;
        } else {
          var _v3 = p.position1;
          _v3.x = pos1X;
          _v3.y = pos1Y;
          _v3.z = pos1Z;
          var _v4 = p.position2;
          _v4.x = pos2X;
          _v4.y = pos2Y;
          _v4.z = pos2Z;
        }
      }
    }, {
      key: "detectImpl",
      value: function detectImpl(result, geom1, geom2, tf1, tf2, cachedData) {}
    }, {
      key: "detect",
      value: function detect(result, geom1, geom2, transform1, transform2, cachedData) {
        result.numPoints = 0;
        var _g = 0;
        var _g1 = result.points;

        while (_g < _g1.length) {
          var p = _g1[_g];
          ++_g;
          p.position1.zero();
          p.position2.zero();
          p.depth = 0;
          p.id = 0;
        }

        result.normal.zero();

        if (this.swapped) {
          this.detectImpl(result, geom2, geom1, transform2, transform1, cachedData);
        } else {
          this.detectImpl(result, geom1, geom2, transform1, transform2, cachedData);
        }
      }
    }]);

    return oimo_collision_narrowphase_detector_Detector;
  }();

  oimo.collision.narrowphase.detector.BoxBoxDetector = /*#__PURE__*/function (_oimo$collision$narro) {
    _inherits(oimo_collision_narrowphase_detector_BoxBoxDetector, _oimo$collision$narro);

    var _super13 = _createSuper(oimo_collision_narrowphase_detector_BoxBoxDetector);

    function oimo_collision_narrowphase_detector_BoxBoxDetector() {
      var _this54;

      _classCallCheck(this, oimo_collision_narrowphase_detector_BoxBoxDetector);

      _this54 = _super13.call(this, false);
      _this54.clipper = new oimo.collision.narrowphase.detector._BoxBoxDetector.FaceClipper();
      return _this54;
    }

    _createClass(oimo_collision_narrowphase_detector_BoxBoxDetector, [{
      key: "detectImpl",
      value: function detectImpl(result, geom1, geom2, tf1, tf2, cachedData) {
        var b1 = geom1;
        var b2 = geom2;
        result.incremental = false;
        var c1X;
        var c1Y;
        var c1Z;
        var c2X;
        var c2Y;
        var c2Z;
        var c12X;
        var c12Y;
        var c12Z;
        c1X = tf1._positionX;
        c1Y = tf1._positionY;
        c1Z = tf1._positionZ;
        c2X = tf2._positionX;
        c2Y = tf2._positionY;
        c2Z = tf2._positionZ;
        c12X = c2X - c1X;
        c12Y = c2Y - c1Y;
        c12Z = c2Z - c1Z;
        var x1X;
        var x1Y;
        var x1Z;
        var y1X;
        var y1Y;
        var y1Z;
        var z1X;
        var z1Y;
        var z1Z;
        var x2X;
        var x2Y;
        var x2Z;
        var y2X;
        var y2Y;
        var y2Z;
        var z2X;
        var z2Y;
        var z2Z;
        x1X = tf1._rotation00;
        x1Y = tf1._rotation10;
        x1Z = tf1._rotation20;
        y1X = tf1._rotation01;
        y1Y = tf1._rotation11;
        y1Z = tf1._rotation21;
        z1X = tf1._rotation02;
        z1Y = tf1._rotation12;
        z1Z = tf1._rotation22;
        x2X = tf2._rotation00;
        x2Y = tf2._rotation10;
        x2Z = tf2._rotation20;
        y2X = tf2._rotation01;
        y2Y = tf2._rotation11;
        y2Z = tf2._rotation21;
        z2X = tf2._rotation02;
        z2Y = tf2._rotation12;
        z2Z = tf2._rotation22;
        var w1 = b1._halfExtentsX;
        var h1 = b1._halfExtentsY;
        var d1 = b1._halfExtentsZ;
        var w2 = b2._halfExtentsX;
        var h2 = b2._halfExtentsY;
        var d2 = b2._halfExtentsZ;
        var sx1X;
        var sx1Y;
        var sx1Z;
        var sy1X;
        var sy1Y;
        var sy1Z;
        var sz1X;
        var sz1Y;
        var sz1Z;
        var sx2X;
        var sx2Y;
        var sx2Z;
        var sy2X;
        var sy2Y;
        var sy2Z;
        var sz2X;
        var sz2Y;
        var sz2Z;
        sx1X = x1X * w1;
        sx1Y = x1Y * w1;
        sx1Z = x1Z * w1;
        sy1X = y1X * h1;
        sy1Y = y1Y * h1;
        sy1Z = y1Z * h1;
        sz1X = z1X * d1;
        sz1Y = z1Y * d1;
        sz1Z = z1Z * d1;
        sx2X = x2X * w2;
        sx2Y = x2Y * w2;
        sx2Z = x2Z * w2;
        sy2X = y2X * h2;
        sy2Y = y2Y * h2;
        sy2Z = y2Z * h2;
        sz2X = z2X * d2;
        sz2Y = z2Y * d2;
        sz2Z = z2Z * d2;
        var mDepth = 1e65536;
        var mId = -1;
        var mSign = 0;
        var mAxisX;
        var mAxisY;
        var mAxisZ;
        mAxisX = 0;
        mAxisY = 0;
        mAxisZ = 0;
        var proj1 = w1;
        var dx = x1X * sx2X + x1Y * sx2Y + x1Z * sx2Z;
        var dy = x1X * sy2X + x1Y * sy2Y + x1Z * sy2Z;
        var dz = x1X * sz2X + x1Y * sz2Y + x1Z * sz2Z;

        if (dx < 0) {
          dx = -dx;
        }

        if (dy < 0) {
          dy = -dy;
        }

        if (dz < 0) {
          dz = -dz;
        }

        var proj2 = dx + dy + dz;
        var projC12 = x1X * c12X + x1Y * c12Y + x1Z * c12Z;
        var sum = proj1 + proj2;
        var neg = projC12 < 0;
        var abs = neg ? -projC12 : projC12;

        if (abs < sum) {
          var depth = sum - abs;

          if (depth < 1e65536) {
            mDepth = depth;
            mId = 0;
            mAxisX = x1X;
            mAxisY = x1Y;
            mAxisZ = x1Z;
            mSign = neg ? -1 : 1;
          }
        } else {
          return;
        }

        proj1 = h1;
        var dx1 = y1X * sx2X + y1Y * sx2Y + y1Z * sx2Z;
        var dy1 = y1X * sy2X + y1Y * sy2Y + y1Z * sy2Z;
        var dz1 = y1X * sz2X + y1Y * sz2Y + y1Z * sz2Z;

        if (dx1 < 0) {
          dx1 = -dx1;
        }

        if (dy1 < 0) {
          dy1 = -dy1;
        }

        if (dz1 < 0) {
          dz1 = -dz1;
        }

        proj2 = dx1 + dy1 + dz1;
        projC12 = y1X * c12X + y1Y * c12Y + y1Z * c12Z;
        var sum1 = proj1 + proj2;
        var neg1 = projC12 < 0;
        var abs1 = neg1 ? -projC12 : projC12;

        if (abs1 < sum1) {
          var _depth = sum1 - abs1;

          if (_depth < mDepth) {
            mDepth = _depth;
            mId = 1;
            mAxisX = y1X;
            mAxisY = y1Y;
            mAxisZ = y1Z;
            mSign = neg1 ? -1 : 1;
          }
        } else {
          return;
        }

        proj1 = d1;
        var dx2 = z1X * sx2X + z1Y * sx2Y + z1Z * sx2Z;
        var dy2 = z1X * sy2X + z1Y * sy2Y + z1Z * sy2Z;
        var dz2 = z1X * sz2X + z1Y * sz2Y + z1Z * sz2Z;

        if (dx2 < 0) {
          dx2 = -dx2;
        }

        if (dy2 < 0) {
          dy2 = -dy2;
        }

        if (dz2 < 0) {
          dz2 = -dz2;
        }

        proj2 = dx2 + dy2 + dz2;
        projC12 = z1X * c12X + z1Y * c12Y + z1Z * c12Z;
        var sum2 = proj1 + proj2;
        var neg2 = projC12 < 0;
        var abs2 = neg2 ? -projC12 : projC12;

        if (abs2 < sum2) {
          var _depth2 = sum2 - abs2;

          if (_depth2 < mDepth) {
            mDepth = _depth2;
            mId = 2;
            mAxisX = z1X;
            mAxisY = z1Y;
            mAxisZ = z1Z;
            mSign = neg2 ? -1 : 1;
          }
        } else {
          return;
        }

        if (mDepth > oimo.common.Setting.linearSlop) {
          mDepth -= oimo.common.Setting.linearSlop;
        } else {
          mDepth = 0;
        }

        var dx3 = x2X * sx1X + x2Y * sx1Y + x2Z * sx1Z;
        var dy3 = x2X * sy1X + x2Y * sy1Y + x2Z * sy1Z;
        var dz3 = x2X * sz1X + x2Y * sz1Y + x2Z * sz1Z;

        if (dx3 < 0) {
          dx3 = -dx3;
        }

        if (dy3 < 0) {
          dy3 = -dy3;
        }

        if (dz3 < 0) {
          dz3 = -dz3;
        }

        proj1 = dx3 + dy3 + dz3;
        proj2 = w2;
        projC12 = x2X * c12X + x2Y * c12Y + x2Z * c12Z;
        var sum3 = proj1 + proj2;
        var neg3 = projC12 < 0;
        var abs3 = neg3 ? -projC12 : projC12;

        if (abs3 < sum3) {
          var _depth3 = sum3 - abs3;

          if (_depth3 < mDepth) {
            mDepth = _depth3;
            mId = 3;
            mAxisX = x2X;
            mAxisY = x2Y;
            mAxisZ = x2Z;
            mSign = neg3 ? -1 : 1;
          }
        } else {
          return;
        }

        var dx4 = y2X * sx1X + y2Y * sx1Y + y2Z * sx1Z;
        var dy4 = y2X * sy1X + y2Y * sy1Y + y2Z * sy1Z;
        var dz4 = y2X * sz1X + y2Y * sz1Y + y2Z * sz1Z;

        if (dx4 < 0) {
          dx4 = -dx4;
        }

        if (dy4 < 0) {
          dy4 = -dy4;
        }

        if (dz4 < 0) {
          dz4 = -dz4;
        }

        proj1 = dx4 + dy4 + dz4;
        proj2 = h2;
        projC12 = y2X * c12X + y2Y * c12Y + y2Z * c12Z;
        var sum4 = proj1 + proj2;
        var neg4 = projC12 < 0;
        var abs4 = neg4 ? -projC12 : projC12;

        if (abs4 < sum4) {
          var _depth4 = sum4 - abs4;

          if (_depth4 < mDepth) {
            mDepth = _depth4;
            mId = 4;
            mAxisX = y2X;
            mAxisY = y2Y;
            mAxisZ = y2Z;
            mSign = neg4 ? -1 : 1;
          }
        } else {
          return;
        }

        var dx5 = z2X * sx1X + z2Y * sx1Y + z2Z * sx1Z;
        var dy5 = z2X * sy1X + z2Y * sy1Y + z2Z * sy1Z;
        var dz5 = z2X * sz1X + z2Y * sz1Y + z2Z * sz1Z;

        if (dx5 < 0) {
          dx5 = -dx5;
        }

        if (dy5 < 0) {
          dy5 = -dy5;
        }

        if (dz5 < 0) {
          dz5 = -dz5;
        }

        proj1 = dx5 + dy5 + dz5;
        proj2 = d2;
        projC12 = z2X * c12X + z2Y * c12Y + z2Z * c12Z;
        var sum5 = proj1 + proj2;
        var neg5 = projC12 < 0;
        var abs5 = neg5 ? -projC12 : projC12;

        if (abs5 < sum5) {
          var _depth5 = sum5 - abs5;

          if (_depth5 < mDepth) {
            mDepth = _depth5;
            mId = 5;
            mAxisX = z2X;
            mAxisY = z2Y;
            mAxisZ = z2Z;
            mSign = neg5 ? -1 : 1;
          }
        } else {
          return;
        }

        if (mDepth > oimo.common.Setting.linearSlop) {
          mDepth -= oimo.common.Setting.linearSlop;
        } else {
          mDepth = 0;
        }

        var edgeAxisX;
        var edgeAxisY;
        var edgeAxisZ;
        edgeAxisX = x1Y * x2Z - x1Z * x2Y;
        edgeAxisY = x1Z * x2X - x1X * x2Z;
        edgeAxisZ = x1X * x2Y - x1Y * x2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (l > 0) {
            l = 1 / Math.sqrt(l);
          }

          edgeAxisX *= l;
          edgeAxisY *= l;
          edgeAxisZ *= l;

          var _dx = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;

          var _dy = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;

          if (_dx < 0) {
            _dx = -_dx;
          }

          if (_dy < 0) {
            _dy = -_dy;
          }

          proj1 = _dx + _dy;

          var _dx2 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;

          var _dy2 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;

          if (_dx2 < 0) {
            _dx2 = -_dx2;
          }

          if (_dy2 < 0) {
            _dy2 = -_dy2;
          }

          proj2 = _dx2 + _dy2;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum = proj1 + proj2;

          var _neg = projC12 < 0;

          var _abs = _neg ? -projC12 : projC12;

          if (_abs < _sum) {
            var _depth6 = _sum - _abs;

            if (_depth6 < mDepth) {
              mDepth = _depth6;
              mId = 6;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = x1Y * y2Z - x1Z * y2Y;
        edgeAxisY = x1Z * y2X - x1X * y2Z;
        edgeAxisZ = x1X * y2Y - x1Y * y2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l2 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l2 > 0) {
            _l2 = 1 / Math.sqrt(_l2);
          }

          edgeAxisX *= _l2;
          edgeAxisY *= _l2;
          edgeAxisZ *= _l2;

          var _dx3 = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;

          var _dy3 = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;

          if (_dx3 < 0) {
            _dx3 = -_dx3;
          }

          if (_dy3 < 0) {
            _dy3 = -_dy3;
          }

          proj1 = _dx3 + _dy3;

          var _dx4 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;

          var _dy4 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;

          if (_dx4 < 0) {
            _dx4 = -_dx4;
          }

          if (_dy4 < 0) {
            _dy4 = -_dy4;
          }

          proj2 = _dx4 + _dy4;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum2 = proj1 + proj2;

          var _neg2 = projC12 < 0;

          var _abs2 = _neg2 ? -projC12 : projC12;

          if (_abs2 < _sum2) {
            var _depth7 = _sum2 - _abs2;

            if (_depth7 < mDepth) {
              mDepth = _depth7;
              mId = 7;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg2 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = x1Y * z2Z - x1Z * z2Y;
        edgeAxisY = x1Z * z2X - x1X * z2Z;
        edgeAxisZ = x1X * z2Y - x1Y * z2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l3 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l3 > 0) {
            _l3 = 1 / Math.sqrt(_l3);
          }

          edgeAxisX *= _l3;
          edgeAxisY *= _l3;
          edgeAxisZ *= _l3;

          var _dx5 = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;

          var _dy5 = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;

          if (_dx5 < 0) {
            _dx5 = -_dx5;
          }

          if (_dy5 < 0) {
            _dy5 = -_dy5;
          }

          proj1 = _dx5 + _dy5;

          var _dx6 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;

          var _dy6 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;

          if (_dx6 < 0) {
            _dx6 = -_dx6;
          }

          if (_dy6 < 0) {
            _dy6 = -_dy6;
          }

          proj2 = _dx6 + _dy6;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum3 = proj1 + proj2;

          var _neg3 = projC12 < 0;

          var _abs3 = _neg3 ? -projC12 : projC12;

          if (_abs3 < _sum3) {
            var _depth8 = _sum3 - _abs3;

            if (_depth8 < mDepth) {
              mDepth = _depth8;
              mId = 8;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg3 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = y1Y * x2Z - y1Z * x2Y;
        edgeAxisY = y1Z * x2X - y1X * x2Z;
        edgeAxisZ = y1X * x2Y - y1Y * x2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l4 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l4 > 0) {
            _l4 = 1 / Math.sqrt(_l4);
          }

          edgeAxisX *= _l4;
          edgeAxisY *= _l4;
          edgeAxisZ *= _l4;

          var _dx7 = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;

          var _dy7 = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;

          if (_dx7 < 0) {
            _dx7 = -_dx7;
          }

          if (_dy7 < 0) {
            _dy7 = -_dy7;
          }

          proj1 = _dx7 + _dy7;

          var _dx8 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;

          var _dy8 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;

          if (_dx8 < 0) {
            _dx8 = -_dx8;
          }

          if (_dy8 < 0) {
            _dy8 = -_dy8;
          }

          proj2 = _dx8 + _dy8;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum4 = proj1 + proj2;

          var _neg4 = projC12 < 0;

          var _abs4 = _neg4 ? -projC12 : projC12;

          if (_abs4 < _sum4) {
            var _depth9 = _sum4 - _abs4;

            if (_depth9 < mDepth) {
              mDepth = _depth9;
              mId = 9;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg4 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = y1Y * y2Z - y1Z * y2Y;
        edgeAxisY = y1Z * y2X - y1X * y2Z;
        edgeAxisZ = y1X * y2Y - y1Y * y2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l5 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l5 > 0) {
            _l5 = 1 / Math.sqrt(_l5);
          }

          edgeAxisX *= _l5;
          edgeAxisY *= _l5;
          edgeAxisZ *= _l5;

          var _dx9 = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;

          var _dy9 = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;

          if (_dx9 < 0) {
            _dx9 = -_dx9;
          }

          if (_dy9 < 0) {
            _dy9 = -_dy9;
          }

          proj1 = _dx9 + _dy9;

          var _dx10 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;

          var _dy10 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;

          if (_dx10 < 0) {
            _dx10 = -_dx10;
          }

          if (_dy10 < 0) {
            _dy10 = -_dy10;
          }

          proj2 = _dx10 + _dy10;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum5 = proj1 + proj2;

          var _neg5 = projC12 < 0;

          var _abs5 = _neg5 ? -projC12 : projC12;

          if (_abs5 < _sum5) {
            var _depth10 = _sum5 - _abs5;

            if (_depth10 < mDepth) {
              mDepth = _depth10;
              mId = 10;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg5 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = y1Y * z2Z - y1Z * z2Y;
        edgeAxisY = y1Z * z2X - y1X * z2Z;
        edgeAxisZ = y1X * z2Y - y1Y * z2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l6 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l6 > 0) {
            _l6 = 1 / Math.sqrt(_l6);
          }

          edgeAxisX *= _l6;
          edgeAxisY *= _l6;
          edgeAxisZ *= _l6;

          var _dx11 = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;

          var _dy11 = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;

          if (_dx11 < 0) {
            _dx11 = -_dx11;
          }

          if (_dy11 < 0) {
            _dy11 = -_dy11;
          }

          proj1 = _dx11 + _dy11;

          var _dx12 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;

          var _dy12 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;

          if (_dx12 < 0) {
            _dx12 = -_dx12;
          }

          if (_dy12 < 0) {
            _dy12 = -_dy12;
          }

          proj2 = _dx12 + _dy12;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum6 = proj1 + proj2;

          var _neg6 = projC12 < 0;

          var _abs6 = _neg6 ? -projC12 : projC12;

          if (_abs6 < _sum6) {
            var _depth11 = _sum6 - _abs6;

            if (_depth11 < mDepth) {
              mDepth = _depth11;
              mId = 11;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg6 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = z1Y * x2Z - z1Z * x2Y;
        edgeAxisY = z1Z * x2X - z1X * x2Z;
        edgeAxisZ = z1X * x2Y - z1Y * x2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l7 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l7 > 0) {
            _l7 = 1 / Math.sqrt(_l7);
          }

          edgeAxisX *= _l7;
          edgeAxisY *= _l7;
          edgeAxisZ *= _l7;

          var _dx13 = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;

          var _dy13 = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;

          if (_dx13 < 0) {
            _dx13 = -_dx13;
          }

          if (_dy13 < 0) {
            _dy13 = -_dy13;
          }

          proj1 = _dx13 + _dy13;

          var _dx14 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;

          var _dy14 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;

          if (_dx14 < 0) {
            _dx14 = -_dx14;
          }

          if (_dy14 < 0) {
            _dy14 = -_dy14;
          }

          proj2 = _dx14 + _dy14;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum7 = proj1 + proj2;

          var _neg7 = projC12 < 0;

          var _abs7 = _neg7 ? -projC12 : projC12;

          if (_abs7 < _sum7) {
            var _depth12 = _sum7 - _abs7;

            if (_depth12 < mDepth) {
              mDepth = _depth12;
              mId = 12;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg7 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = z1Y * y2Z - z1Z * y2Y;
        edgeAxisY = z1Z * y2X - z1X * y2Z;
        edgeAxisZ = z1X * y2Y - z1Y * y2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l8 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l8 > 0) {
            _l8 = 1 / Math.sqrt(_l8);
          }

          edgeAxisX *= _l8;
          edgeAxisY *= _l8;
          edgeAxisZ *= _l8;

          var _dx15 = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;

          var _dy15 = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;

          if (_dx15 < 0) {
            _dx15 = -_dx15;
          }

          if (_dy15 < 0) {
            _dy15 = -_dy15;
          }

          proj1 = _dx15 + _dy15;

          var _dx16 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;

          var _dy16 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;

          if (_dx16 < 0) {
            _dx16 = -_dx16;
          }

          if (_dy16 < 0) {
            _dy16 = -_dy16;
          }

          proj2 = _dx16 + _dy16;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum8 = proj1 + proj2;

          var _neg8 = projC12 < 0;

          var _abs8 = _neg8 ? -projC12 : projC12;

          if (_abs8 < _sum8) {
            var _depth13 = _sum8 - _abs8;

            if (_depth13 < mDepth) {
              mDepth = _depth13;
              mId = 13;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg8 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        edgeAxisX = z1Y * z2Z - z1Z * z2Y;
        edgeAxisY = z1Z * z2X - z1X * z2Z;
        edgeAxisZ = z1X * z2Y - z1Y * z2X;

        if (!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
          var _l9 = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;

          if (_l9 > 0) {
            _l9 = 1 / Math.sqrt(_l9);
          }

          edgeAxisX *= _l9;
          edgeAxisY *= _l9;
          edgeAxisZ *= _l9;

          var _dx17 = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;

          var _dy17 = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;

          if (_dx17 < 0) {
            _dx17 = -_dx17;
          }

          if (_dy17 < 0) {
            _dy17 = -_dy17;
          }

          proj1 = _dx17 + _dy17;

          var _dx18 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;

          var _dy18 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;

          if (_dx18 < 0) {
            _dx18 = -_dx18;
          }

          if (_dy18 < 0) {
            _dy18 = -_dy18;
          }

          proj2 = _dx18 + _dy18;
          projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;

          var _sum9 = proj1 + proj2;

          var _neg9 = projC12 < 0;

          var _abs9 = _neg9 ? -projC12 : projC12;

          if (_abs9 < _sum9) {
            var _depth14 = _sum9 - _abs9;

            if (_depth14 < mDepth) {
              mDepth = _depth14;
              mId = 14;
              mAxisX = edgeAxisX;
              mAxisY = edgeAxisY;
              mAxisZ = edgeAxisZ;
              mSign = _neg9 ? -1 : 1;
            }
          } else {
            return;
          }
        }

        if (mId >= 6) {
          mAxisX *= mSign;
          mAxisY *= mSign;
          mAxisZ *= mSign;
          var id1 = (mId - 6) / 3 | 0;
          var id2 = mId - 6 - id1 * 3;
          var p1X;
          var p1Y;
          var p1Z;
          var p2X;
          var p2Y;
          var p2Z;
          var d1X;
          var d1Y;
          var d1Z;
          var d2X;
          var d2Y;
          var d2Z;

          switch (id1) {
            case 0:
              d1X = x1X;
              d1Y = x1Y;
              d1Z = x1Z;
              var signY = sz1X * mAxisX + sz1Y * mAxisY + sz1Z * mAxisZ > 0;

              if (sy1X * mAxisX + sy1Y * mAxisY + sy1Z * mAxisZ > 0) {
                if (signY) {
                  p1X = sy1X + sz1X;
                  p1Y = sy1Y + sz1Y;
                  p1Z = sy1Z + sz1Z;
                } else {
                  p1X = sy1X - sz1X;
                  p1Y = sy1Y - sz1Y;
                  p1Z = sy1Z - sz1Z;
                }
              } else if (signY) {
                p1X = sz1X - sy1X;
                p1Y = sz1Y - sy1Y;
                p1Z = sz1Z - sy1Z;
              } else {
                p1X = sy1X + sz1X;
                p1Y = sy1Y + sz1Y;
                p1Z = sy1Z + sz1Z;
                p1X = -p1X;
                p1Y = -p1Y;
                p1Z = -p1Z;
              }

              break;

            case 1:
              d1X = y1X;
              d1Y = y1Y;
              d1Z = y1Z;
              var signY1 = sz1X * mAxisX + sz1Y * mAxisY + sz1Z * mAxisZ > 0;

              if (sx1X * mAxisX + sx1Y * mAxisY + sx1Z * mAxisZ > 0) {
                if (signY1) {
                  p1X = sx1X + sz1X;
                  p1Y = sx1Y + sz1Y;
                  p1Z = sx1Z + sz1Z;
                } else {
                  p1X = sx1X - sz1X;
                  p1Y = sx1Y - sz1Y;
                  p1Z = sx1Z - sz1Z;
                }
              } else if (signY1) {
                p1X = sz1X - sx1X;
                p1Y = sz1Y - sx1Y;
                p1Z = sz1Z - sx1Z;
              } else {
                p1X = sx1X + sz1X;
                p1Y = sx1Y + sz1Y;
                p1Z = sx1Z + sz1Z;
                p1X = -p1X;
                p1Y = -p1Y;
                p1Z = -p1Z;
              }

              break;

            default:
              d1X = z1X;
              d1Y = z1Y;
              d1Z = z1Z;
              var signY2 = sy1X * mAxisX + sy1Y * mAxisY + sy1Z * mAxisZ > 0;

              if (sx1X * mAxisX + sx1Y * mAxisY + sx1Z * mAxisZ > 0) {
                if (signY2) {
                  p1X = sx1X + sy1X;
                  p1Y = sx1Y + sy1Y;
                  p1Z = sx1Z + sy1Z;
                } else {
                  p1X = sx1X - sy1X;
                  p1Y = sx1Y - sy1Y;
                  p1Z = sx1Z - sy1Z;
                }
              } else if (signY2) {
                p1X = sy1X - sx1X;
                p1Y = sy1Y - sx1Y;
                p1Z = sy1Z - sx1Z;
              } else {
                p1X = sx1X + sy1X;
                p1Y = sx1Y + sy1Y;
                p1Z = sx1Z + sy1Z;
                p1X = -p1X;
                p1Y = -p1Y;
                p1Z = -p1Z;
              }

          }

          p1X = c1X + p1X;
          p1Y = c1Y + p1Y;
          p1Z = c1Z + p1Z;

          switch (id2) {
            case 0:
              d2X = x2X;
              d2Y = x2Y;
              d2Z = x2Z;
              var signY3 = sz2X * mAxisX + sz2Y * mAxisY + sz2Z * mAxisZ > 0;

              if (sy2X * mAxisX + sy2Y * mAxisY + sy2Z * mAxisZ > 0) {
                if (signY3) {
                  p2X = sy2X + sz2X;
                  p2Y = sy2Y + sz2Y;
                  p2Z = sy2Z + sz2Z;
                } else {
                  p2X = sy2X - sz2X;
                  p2Y = sy2Y - sz2Y;
                  p2Z = sy2Z - sz2Z;
                }
              } else if (signY3) {
                p2X = sz2X - sy2X;
                p2Y = sz2Y - sy2Y;
                p2Z = sz2Z - sy2Z;
              } else {
                p2X = sy2X + sz2X;
                p2Y = sy2Y + sz2Y;
                p2Z = sy2Z + sz2Z;
                p2X = -p2X;
                p2Y = -p2Y;
                p2Z = -p2Z;
              }

              break;

            case 1:
              d2X = y2X;
              d2Y = y2Y;
              d2Z = y2Z;
              var signY4 = sz2X * mAxisX + sz2Y * mAxisY + sz2Z * mAxisZ > 0;

              if (sx2X * mAxisX + sx2Y * mAxisY + sx2Z * mAxisZ > 0) {
                if (signY4) {
                  p2X = sx2X + sz2X;
                  p2Y = sx2Y + sz2Y;
                  p2Z = sx2Z + sz2Z;
                } else {
                  p2X = sx2X - sz2X;
                  p2Y = sx2Y - sz2Y;
                  p2Z = sx2Z - sz2Z;
                }
              } else if (signY4) {
                p2X = sz2X - sx2X;
                p2Y = sz2Y - sx2Y;
                p2Z = sz2Z - sx2Z;
              } else {
                p2X = sx2X + sz2X;
                p2Y = sx2Y + sz2Y;
                p2Z = sx2Z + sz2Z;
                p2X = -p2X;
                p2Y = -p2Y;
                p2Z = -p2Z;
              }

              break;

            default:
              d2X = z2X;
              d2Y = z2Y;
              d2Z = z2Z;
              var signY5 = sy2X * mAxisX + sy2Y * mAxisY + sy2Z * mAxisZ > 0;

              if (sx2X * mAxisX + sx2Y * mAxisY + sx2Z * mAxisZ > 0) {
                if (signY5) {
                  p2X = sx2X + sy2X;
                  p2Y = sx2Y + sy2Y;
                  p2Z = sx2Z + sy2Z;
                } else {
                  p2X = sx2X - sy2X;
                  p2Y = sx2Y - sy2Y;
                  p2Z = sx2Z - sy2Z;
                }
              } else if (signY5) {
                p2X = sy2X - sx2X;
                p2Y = sy2Y - sx2Y;
                p2Z = sy2Z - sx2Z;
              } else {
                p2X = sx2X + sy2X;
                p2Y = sx2Y + sy2Y;
                p2Z = sx2Z + sy2Z;
                p2X = -p2X;
                p2Y = -p2Y;
                p2Z = -p2Z;
              }

          }

          p2X = c2X - p2X;
          p2Y = c2Y - p2Y;
          p2Z = c2Z - p2Z;
          var rX;
          var rY;
          var rZ;
          rX = p1X - p2X;
          rY = p1Y - p2Y;
          rZ = p1Z - p2Z;
          var dot12 = d1X * d2X + d1Y * d2Y + d1Z * d2Z;
          var dot1r = d1X * rX + d1Y * rY + d1Z * rZ;
          var dot2r = d2X * rX + d2Y * rY + d2Z * rZ;
          var invDet = 1 / (1 - dot12 * dot12);
          var t1 = (dot12 * dot2r - dot1r) * invDet;
          var t2 = (dot2r - dot12 * dot1r) * invDet;
          var cp1X;
          var cp1Y;
          var cp1Z;
          var cp2X;
          var cp2Y;
          var cp2Z;
          cp1X = p1X + d1X * t1;
          cp1Y = p1Y + d1Y * t1;
          cp1Z = p1Z + d1Z * t1;
          cp2X = p2X + d2X * t2;
          cp2Y = p2Y + d2Y * t2;
          cp2Z = p2Z + d2Z * t2;

          var _normalX;

          var _normalY;

          var _normalZ;

          _normalX = -mAxisX;
          _normalY = -mAxisY;
          _normalZ = -mAxisZ;
          this.setNormal(result, _normalX, _normalY, _normalZ);
          this.addPoint(result, cp1X, cp1Y, cp1Z, cp2X, cp2Y, cp2Z, mDepth, 4);
          return;
        }

        var tmpX;
        var tmpY;
        var tmpZ;
        var swapped;

        if (mId >= 3) {
          mSign = -mSign;
          c12X = -c12X;
          c12Y = -c12Y;
          c12Z = -c12Z;
          w1 = w2;
          h1 = h2;
          d1 = d2;
          c1X = c2X;
          c1Y = c2Y;
          c1Z = c2Z;
          tmpX = x1X;
          tmpY = x1Y;
          tmpZ = x1Z;
          x1X = x2X;
          x1Y = x2Y;
          x1Z = x2Z;
          x2X = tmpX;
          x2Y = tmpY;
          x2Z = tmpZ;
          tmpX = y1X;
          tmpY = y1Y;
          tmpZ = y1Z;
          y1X = y2X;
          y1Y = y2Y;
          y1Z = y2Z;
          y2X = tmpX;
          y2Y = tmpY;
          y2Z = tmpZ;
          tmpX = z1X;
          tmpY = z1Y;
          tmpZ = z1Z;
          z1X = z2X;
          z1Y = z2Y;
          z1Z = z2Z;
          z2X = tmpX;
          z2Y = tmpY;
          z2Z = tmpZ;
          tmpX = sx1X;
          tmpY = sx1Y;
          tmpZ = sx1Z;
          sx1X = sx2X;
          sx1Y = sx2Y;
          sx1Z = sx2Z;
          sx2X = tmpX;
          sx2Y = tmpY;
          sx2Z = tmpZ;
          tmpX = sy1X;
          tmpY = sy1Y;
          tmpZ = sy1Z;
          sy1X = sy2X;
          sy1Y = sy2Y;
          sy1Z = sy2Z;
          sy2X = tmpX;
          sy2Y = tmpY;
          sy2Z = tmpZ;
          tmpX = sz1X;
          tmpY = sz1Y;
          tmpZ = sz1Z;
          sz1X = sz2X;
          sz1Y = sz2Y;
          sz1Z = sz2Z;
          sz2X = tmpX;
          sz2Y = tmpY;
          sz2Z = tmpZ;
          mId -= 3;
          swapped = true;
        } else {
          swapped = false;
        }

        var refCenterX;
        var refCenterY;
        var refCenterZ;
        var refNormalX;
        var refNormalY;
        var refNormalZ;
        var refXX;
        var refXY;
        var refXZ;
        var refYX;
        var refYY;
        var refYZ;
        var refW;
        var refH;

        switch (mId) {
          case 0:
            refCenterX = sx1X;
            refCenterY = sx1Y;
            refCenterZ = sx1Z;
            refNormalX = x1X;
            refNormalY = x1Y;
            refNormalZ = x1Z;
            refXX = y1X;
            refXY = y1Y;
            refXZ = y1Z;
            refYX = z1X;
            refYY = z1Y;
            refYZ = z1Z;
            refW = h1;
            refH = d1;
            break;

          case 1:
            refCenterX = sy1X;
            refCenterY = sy1Y;
            refCenterZ = sy1Z;
            refNormalX = y1X;
            refNormalY = y1Y;
            refNormalZ = y1Z;
            refXX = z1X;
            refXY = z1Y;
            refXZ = z1Z;
            refYX = x1X;
            refYY = x1Y;
            refYZ = x1Z;
            refW = d1;
            refH = w1;
            break;

          default:
            refCenterX = sz1X;
            refCenterY = sz1Y;
            refCenterZ = sz1Z;
            refNormalX = z1X;
            refNormalY = z1Y;
            refNormalZ = z1Z;
            refXX = x1X;
            refXY = x1Y;
            refXZ = x1Z;
            refYX = y1X;
            refYY = y1Y;
            refYZ = y1Z;
            refW = w1;
            refH = h1;
        }

        if (mSign < 0) {
          refCenterX = -refCenterX;
          refCenterY = -refCenterY;
          refCenterZ = -refCenterZ;
          refNormalX = -refNormalX;
          refNormalY = -refNormalY;
          refNormalZ = -refNormalZ;
          tmpX = refXX;
          tmpY = refXY;
          tmpZ = refXZ;
          refXX = refYX;
          refXY = refYY;
          refXZ = refYZ;
          refYX = tmpX;
          refYY = tmpY;
          refYZ = tmpZ;
          var tmp = refW;
          refW = refH;
          refH = tmp;
        }

        refCenterX += c1X;
        refCenterY += c1Y;
        refCenterZ += c1Z;
        var minIncDot = 1;
        var incId = 0;
        var incDot = refNormalX * x2X + refNormalY * x2Y + refNormalZ * x2Z;

        if (incDot < minIncDot) {
          minIncDot = incDot;
          incId = 0;
        }

        if (-incDot < minIncDot) {
          minIncDot = -incDot;
          incId = 1;
        }

        incDot = refNormalX * y2X + refNormalY * y2Y + refNormalZ * y2Z;

        if (incDot < minIncDot) {
          minIncDot = incDot;
          incId = 2;
        }

        if (-incDot < minIncDot) {
          minIncDot = -incDot;
          incId = 3;
        }

        incDot = refNormalX * z2X + refNormalY * z2Y + refNormalZ * z2Z;

        if (incDot < minIncDot) {
          minIncDot = incDot;
          incId = 4;
        }

        if (-incDot < minIncDot) {
          incId = 5;
        }

        var incV1X;
        var incV1Y;
        var incV1Z;
        var incV2X;
        var incV2Y;
        var incV2Z;
        var incV3X;
        var incV3Y;
        var incV3Z;
        var incV4X;
        var incV4Y;
        var incV4Z;

        switch (incId) {
          case 0:
            incV1X = sx2X + sy2X;
            incV1Y = sx2Y + sy2Y;
            incV1Z = sx2Z + sy2Z;
            incV1X += sz2X;
            incV1Y += sz2Y;
            incV1Z += sz2Z;
            incV2X = sx2X - sy2X;
            incV2Y = sx2Y - sy2Y;
            incV2Z = sx2Z - sy2Z;
            incV2X += sz2X;
            incV2Y += sz2Y;
            incV2Z += sz2Z;
            incV3X = sx2X - sy2X;
            incV3Y = sx2Y - sy2Y;
            incV3Z = sx2Z - sy2Z;
            incV3X -= sz2X;
            incV3Y -= sz2Y;
            incV3Z -= sz2Z;
            incV4X = sx2X + sy2X;
            incV4Y = sx2Y + sy2Y;
            incV4Z = sx2Z + sy2Z;
            incV4X -= sz2X;
            incV4Y -= sz2Y;
            incV4Z -= sz2Z;
            break;

          case 1:
            incV1X = sy2X - sx2X;
            incV1Y = sy2Y - sx2Y;
            incV1Z = sy2Z - sx2Z;
            incV1X += sz2X;
            incV1Y += sz2Y;
            incV1Z += sz2Z;
            incV2X = sy2X - sx2X;
            incV2Y = sy2Y - sx2Y;
            incV2Z = sy2Z - sx2Z;
            incV2X -= sz2X;
            incV2Y -= sz2Y;
            incV2Z -= sz2Z;
            incV3X = sx2X + sy2X;
            incV3Y = sx2Y + sy2Y;
            incV3Z = sx2Z + sy2Z;
            incV3X = -incV3X;
            incV3Y = -incV3Y;
            incV3Z = -incV3Z;
            incV3X -= sz2X;
            incV3Y -= sz2Y;
            incV3Z -= sz2Z;
            incV4X = sx2X + sy2X;
            incV4Y = sx2Y + sy2Y;
            incV4Z = sx2Z + sy2Z;
            incV4X = -incV4X;
            incV4Y = -incV4Y;
            incV4Z = -incV4Z;
            incV4X += sz2X;
            incV4Y += sz2Y;
            incV4Z += sz2Z;
            break;

          case 2:
            incV1X = sx2X + sy2X;
            incV1Y = sx2Y + sy2Y;
            incV1Z = sx2Z + sy2Z;
            incV1X += sz2X;
            incV1Y += sz2Y;
            incV1Z += sz2Z;
            incV2X = sx2X + sy2X;
            incV2Y = sx2Y + sy2Y;
            incV2Z = sx2Z + sy2Z;
            incV2X -= sz2X;
            incV2Y -= sz2Y;
            incV2Z -= sz2Z;
            incV3X = sy2X - sx2X;
            incV3Y = sy2Y - sx2Y;
            incV3Z = sy2Z - sx2Z;
            incV3X -= sz2X;
            incV3Y -= sz2Y;
            incV3Z -= sz2Z;
            incV4X = sy2X - sx2X;
            incV4Y = sy2Y - sx2Y;
            incV4Z = sy2Z - sx2Z;
            incV4X += sz2X;
            incV4Y += sz2Y;
            incV4Z += sz2Z;
            break;

          case 3:
            incV1X = sx2X - sy2X;
            incV1Y = sx2Y - sy2Y;
            incV1Z = sx2Z - sy2Z;
            incV1X += sz2X;
            incV1Y += sz2Y;
            incV1Z += sz2Z;
            incV2X = sx2X + sy2X;
            incV2Y = sx2Y + sy2Y;
            incV2Z = sx2Z + sy2Z;
            incV2X = -incV2X;
            incV2Y = -incV2Y;
            incV2Z = -incV2Z;
            incV2X += sz2X;
            incV2Y += sz2Y;
            incV2Z += sz2Z;
            incV3X = sx2X + sy2X;
            incV3Y = sx2Y + sy2Y;
            incV3Z = sx2Z + sy2Z;
            incV3X = -incV3X;
            incV3Y = -incV3Y;
            incV3Z = -incV3Z;
            incV3X -= sz2X;
            incV3Y -= sz2Y;
            incV3Z -= sz2Z;
            incV4X = sx2X - sy2X;
            incV4Y = sx2Y - sy2Y;
            incV4Z = sx2Z - sy2Z;
            incV4X -= sz2X;
            incV4Y -= sz2Y;
            incV4Z -= sz2Z;
            break;

          case 4:
            incV1X = sx2X + sy2X;
            incV1Y = sx2Y + sy2Y;
            incV1Z = sx2Z + sy2Z;
            incV1X += sz2X;
            incV1Y += sz2Y;
            incV1Z += sz2Z;
            incV2X = sy2X - sx2X;
            incV2Y = sy2Y - sx2Y;
            incV2Z = sy2Z - sx2Z;
            incV2X += sz2X;
            incV2Y += sz2Y;
            incV2Z += sz2Z;
            incV3X = sx2X + sy2X;
            incV3Y = sx2Y + sy2Y;
            incV3Z = sx2Z + sy2Z;
            incV3X = -incV3X;
            incV3Y = -incV3Y;
            incV3Z = -incV3Z;
            incV3X += sz2X;
            incV3Y += sz2Y;
            incV3Z += sz2Z;
            incV4X = sx2X - sy2X;
            incV4Y = sx2Y - sy2Y;
            incV4Z = sx2Z - sy2Z;
            incV4X += sz2X;
            incV4Y += sz2Y;
            incV4Z += sz2Z;
            break;

          default:
            incV1X = sx2X + sy2X;
            incV1Y = sx2Y + sy2Y;
            incV1Z = sx2Z + sy2Z;
            incV1X -= sz2X;
            incV1Y -= sz2Y;
            incV1Z -= sz2Z;
            incV2X = sx2X - sy2X;
            incV2Y = sx2Y - sy2Y;
            incV2Z = sx2Z - sy2Z;
            incV2X -= sz2X;
            incV2Y -= sz2Y;
            incV2Z -= sz2Z;
            incV3X = sx2X + sy2X;
            incV3Y = sx2Y + sy2Y;
            incV3Z = sx2Z + sy2Z;
            incV3X = -incV3X;
            incV3Y = -incV3Y;
            incV3Z = -incV3Z;
            incV3X -= sz2X;
            incV3Y -= sz2Y;
            incV3Z -= sz2Z;
            incV4X = sy2X - sx2X;
            incV4Y = sy2Y - sx2Y;
            incV4Z = sy2Z - sx2Z;
            incV4X -= sz2X;
            incV4Y -= sz2Y;
            incV4Z -= sz2Z;
        }

        incV1X += c12X;
        incV1Y += c12Y;
        incV1Z += c12Z;
        incV2X += c12X;
        incV2Y += c12Y;
        incV2Z += c12Z;
        incV3X += c12X;
        incV3Y += c12Y;
        incV3Z += c12Z;
        incV4X += c12X;
        incV4Y += c12Y;
        incV4Z += c12Z;
        var _this = this.clipper;
        _this.w = refW;
        _this.h = refH;
        _this.numVertices = 0;
        _this.numTmpVertices = 0;
        var _this1 = this.clipper;
        var _this2 = _this1.vertices[_this1.numVertices++];
        _this2.x = incV1X * refXX + incV1Y * refXY + incV1Z * refXZ;
        _this2.y = incV1X * refYX + incV1Y * refYY + incV1Z * refYZ;
        _this2.wx = incV1X;
        _this2.wy = incV1Y;
        _this2.wz = incV1Z;
        var _this3 = this.clipper;
        var _this4 = _this3.vertices[_this3.numVertices++];
        _this4.x = incV2X * refXX + incV2Y * refXY + incV2Z * refXZ;
        _this4.y = incV2X * refYX + incV2Y * refYY + incV2Z * refYZ;
        _this4.wx = incV2X;
        _this4.wy = incV2Y;
        _this4.wz = incV2Z;
        var _this5 = this.clipper;
        var _this6 = _this5.vertices[_this5.numVertices++];
        _this6.x = incV3X * refXX + incV3Y * refXY + incV3Z * refXZ;
        _this6.y = incV3X * refYX + incV3Y * refYY + incV3Z * refYZ;
        _this6.wx = incV3X;
        _this6.wy = incV3Y;
        _this6.wz = incV3Z;
        var _this7 = this.clipper;
        var _this8 = _this7.vertices[_this7.numVertices++];
        _this8.x = incV4X * refXX + incV4Y * refXY + incV4Z * refXZ;
        _this8.y = incV4X * refYX + incV4Y * refYY + incV4Z * refYZ;
        _this8.wx = incV4X;
        _this8.wy = incV4Y;
        _this8.wz = incV4Z;
        this.clipper.clip();
        this.clipper.reduce();
        var normalX;
        var normalY;
        var normalZ;

        if (swapped) {
          normalX = refNormalX;
          normalY = refNormalY;
          normalZ = refNormalZ;
        } else {
          normalX = -refNormalX;
          normalY = -refNormalY;
          normalZ = -refNormalZ;
        }

        this.setNormal(result, normalX, normalY, normalZ);
        var _g = 0;
        var _g1 = this.clipper.numVertices;

        while (_g < _g1) {
          var i = _g++;
          var v = this.clipper.vertices[i];
          var clippedVertexX = void 0;
          var clippedVertexY = void 0;
          var clippedVertexZ = void 0;
          clippedVertexX = v.wx;
          clippedVertexY = v.wy;
          clippedVertexZ = v.wz;
          clippedVertexX += c1X;
          clippedVertexY += c1Y;
          clippedVertexZ += c1Z;
          var clippedVertexToRefCenterX = void 0;
          var clippedVertexToRefCenterY = void 0;
          var clippedVertexToRefCenterZ = void 0;
          clippedVertexToRefCenterX = refCenterX - clippedVertexX;
          clippedVertexToRefCenterY = refCenterY - clippedVertexY;
          clippedVertexToRefCenterZ = refCenterZ - clippedVertexZ;

          var _depth15 = clippedVertexToRefCenterX * refNormalX + clippedVertexToRefCenterY * refNormalY + clippedVertexToRefCenterZ * refNormalZ;

          var clippedVertexOnRefFaceX = void 0;
          var clippedVertexOnRefFaceY = void 0;
          var clippedVertexOnRefFaceZ = void 0;
          clippedVertexOnRefFaceX = clippedVertexX + refNormalX * _depth15;
          clippedVertexOnRefFaceY = clippedVertexY + refNormalY * _depth15;
          clippedVertexOnRefFaceZ = clippedVertexZ + refNormalZ * _depth15;

          if (_depth15 > -oimo.common.Setting.contactPersistenceThreshold) {
            if (swapped) {
              this.addPoint(result, clippedVertexX, clippedVertexY, clippedVertexZ, clippedVertexOnRefFaceX, clippedVertexOnRefFaceY, clippedVertexOnRefFaceZ, _depth15, i);
            } else {
              this.addPoint(result, clippedVertexOnRefFaceX, clippedVertexOnRefFaceY, clippedVertexOnRefFaceZ, clippedVertexX, clippedVertexY, clippedVertexZ, _depth15, i);
            }
          }
        }
      }
    }]);

    return oimo_collision_narrowphase_detector_BoxBoxDetector;
  }(oimo.collision.narrowphase.detector.Detector);

  if (!oimo.collision.narrowphase.detector._BoxBoxDetector) oimo.collision.narrowphase.detector._BoxBoxDetector = {};
  oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex = /*#__PURE__*/_createClass(function oimo_collision_narrowphase_detector__$BoxBoxDetector_IncidentVertex() {
    _classCallCheck(this, oimo_collision_narrowphase_detector__$BoxBoxDetector_IncidentVertex);

    this.x = 0;
    this.y = 0;
    this.wx = 0;
    this.wy = 0;
    this.wz = 0;
  });

  oimo.collision.narrowphase.detector._BoxBoxDetector.FaceClipper = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector__$BoxBoxDetector_FaceClipper() {
      _classCallCheck(this, oimo_collision_narrowphase_detector__$BoxBoxDetector_FaceClipper);

      this.w = 0;
      this.h = 0;
      this.numVertices = 0;
      this.numTmpVertices = 0;
      this.vertices = new Array(8);
      this.tmpVertices = new Array(8);
      this.vertices[0] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[0] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.vertices[1] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[1] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.vertices[2] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[2] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.vertices[3] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[3] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.vertices[4] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[4] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.vertices[5] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[5] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.vertices[6] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[6] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.vertices[7] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
      this.tmpVertices[7] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
    }

    _createClass(oimo_collision_narrowphase_detector__$BoxBoxDetector_FaceClipper, [{
      key: "clip",
      value: function clip() {
        var _g = 0;
        var _g1 = this.numVertices;

        while (_g < _g1) {
          var i = _g++;
          var v1 = this.vertices[i];
          var v2 = this.vertices[(i + 1) % this.numVertices];
          var s1 = this.w + v1.x;
          var s2 = this.w + v2.x;

          if (s1 > 0 && s2 > 0) {
            var _this = this.tmpVertices[this.numTmpVertices++];
            _this.x = v1.x;
            _this.y = v1.y;
            _this.wx = v1.wx;
            _this.wy = v1.wy;
            _this.wz = v1.wz;
          } else if (s1 > 0 && s2 <= 0) {
            var _this55 = this.tmpVertices[this.numTmpVertices++];
            _this55.x = v1.x;
            _this55.y = v1.y;
            _this55.wx = v1.wx;
            _this55.wy = v1.wy;
            _this55.wz = v1.wz;
            var t = s1 / (s1 - s2);
            var _this1 = this.tmpVertices[this.numTmpVertices++];
            _this1.x = v1.x + (v2.x - v1.x) * t;
            _this1.y = v1.y + (v2.y - v1.y) * t;
            _this1.wx = v1.wx + (v2.wx - v1.wx) * t;
            _this1.wy = v1.wy + (v2.wy - v1.wy) * t;
            _this1.wz = v1.wz + (v2.wz - v1.wz) * t;
          } else if (s1 <= 0 && s2 > 0) {
            var _t5 = s1 / (s1 - s2);

            var _this56 = this.tmpVertices[this.numTmpVertices++];
            _this56.x = v1.x + (v2.x - v1.x) * _t5;
            _this56.y = v1.y + (v2.y - v1.y) * _t5;
            _this56.wx = v1.wx + (v2.wx - v1.wx) * _t5;
            _this56.wy = v1.wy + (v2.wy - v1.wy) * _t5;
            _this56.wz = v1.wz + (v2.wz - v1.wz) * _t5;
          }
        }

        var tmp = this.vertices;
        this.vertices = this.tmpVertices;
        this.tmpVertices = tmp;
        this.numVertices = this.numTmpVertices;
        this.numTmpVertices = 0;
        var _g2 = 0;
        var _g3 = this.numVertices;

        while (_g2 < _g3) {
          var _i = _g2++;

          var _v5 = this.vertices[_i];
          var _v6 = this.vertices[(_i + 1) % this.numVertices];

          var _s = this.w - _v5.x;

          var _s2 = this.w - _v6.x;

          if (_s > 0 && _s2 > 0) {
            var _this57 = this.tmpVertices[this.numTmpVertices++];
            _this57.x = _v5.x;
            _this57.y = _v5.y;
            _this57.wx = _v5.wx;
            _this57.wy = _v5.wy;
            _this57.wz = _v5.wz;
          } else if (_s > 0 && _s2 <= 0) {
            var _this58 = this.tmpVertices[this.numTmpVertices++];
            _this58.x = _v5.x;
            _this58.y = _v5.y;
            _this58.wx = _v5.wx;
            _this58.wy = _v5.wy;
            _this58.wz = _v5.wz;

            var _t6 = _s / (_s - _s2);

            var _this59 = this.tmpVertices[this.numTmpVertices++];
            _this59.x = _v5.x + (_v6.x - _v5.x) * _t6;
            _this59.y = _v5.y + (_v6.y - _v5.y) * _t6;
            _this59.wx = _v5.wx + (_v6.wx - _v5.wx) * _t6;
            _this59.wy = _v5.wy + (_v6.wy - _v5.wy) * _t6;
            _this59.wz = _v5.wz + (_v6.wz - _v5.wz) * _t6;
          } else if (_s <= 0 && _s2 > 0) {
            var _t7 = _s / (_s - _s2);

            var _this60 = this.tmpVertices[this.numTmpVertices++];
            _this60.x = _v5.x + (_v6.x - _v5.x) * _t7;
            _this60.y = _v5.y + (_v6.y - _v5.y) * _t7;
            _this60.wx = _v5.wx + (_v6.wx - _v5.wx) * _t7;
            _this60.wy = _v5.wy + (_v6.wy - _v5.wy) * _t7;
            _this60.wz = _v5.wz + (_v6.wz - _v5.wz) * _t7;
          }
        }

        var tmp1 = this.vertices;
        this.vertices = this.tmpVertices;
        this.tmpVertices = tmp1;
        this.numVertices = this.numTmpVertices;
        this.numTmpVertices = 0;
        var _g4 = 0;
        var _g5 = this.numVertices;

        while (_g4 < _g5) {
          var _i2 = _g4++;

          var _v7 = this.vertices[_i2];
          var _v8 = this.vertices[(_i2 + 1) % this.numVertices];

          var _s3 = this.h + _v7.y;

          var _s4 = this.h + _v8.y;

          if (_s3 > 0 && _s4 > 0) {
            var _this61 = this.tmpVertices[this.numTmpVertices++];
            _this61.x = _v7.x;
            _this61.y = _v7.y;
            _this61.wx = _v7.wx;
            _this61.wy = _v7.wy;
            _this61.wz = _v7.wz;
          } else if (_s3 > 0 && _s4 <= 0) {
            var _this62 = this.tmpVertices[this.numTmpVertices++];
            _this62.x = _v7.x;
            _this62.y = _v7.y;
            _this62.wx = _v7.wx;
            _this62.wy = _v7.wy;
            _this62.wz = _v7.wz;

            var _t8 = _s3 / (_s3 - _s4);

            var _this63 = this.tmpVertices[this.numTmpVertices++];
            _this63.x = _v7.x + (_v8.x - _v7.x) * _t8;
            _this63.y = _v7.y + (_v8.y - _v7.y) * _t8;
            _this63.wx = _v7.wx + (_v8.wx - _v7.wx) * _t8;
            _this63.wy = _v7.wy + (_v8.wy - _v7.wy) * _t8;
            _this63.wz = _v7.wz + (_v8.wz - _v7.wz) * _t8;
          } else if (_s3 <= 0 && _s4 > 0) {
            var _t9 = _s3 / (_s3 - _s4);

            var _this64 = this.tmpVertices[this.numTmpVertices++];
            _this64.x = _v7.x + (_v8.x - _v7.x) * _t9;
            _this64.y = _v7.y + (_v8.y - _v7.y) * _t9;
            _this64.wx = _v7.wx + (_v8.wx - _v7.wx) * _t9;
            _this64.wy = _v7.wy + (_v8.wy - _v7.wy) * _t9;
            _this64.wz = _v7.wz + (_v8.wz - _v7.wz) * _t9;
          }
        }

        var tmp2 = this.vertices;
        this.vertices = this.tmpVertices;
        this.tmpVertices = tmp2;
        this.numVertices = this.numTmpVertices;
        this.numTmpVertices = 0;
        var _g6 = 0;
        var _g7 = this.numVertices;

        while (_g6 < _g7) {
          var _i3 = _g6++;

          var _v9 = this.vertices[_i3];
          var _v10 = this.vertices[(_i3 + 1) % this.numVertices];

          var _s5 = this.h - _v9.y;

          var _s6 = this.h - _v10.y;

          if (_s5 > 0 && _s6 > 0) {
            var _this65 = this.tmpVertices[this.numTmpVertices++];
            _this65.x = _v9.x;
            _this65.y = _v9.y;
            _this65.wx = _v9.wx;
            _this65.wy = _v9.wy;
            _this65.wz = _v9.wz;
          } else if (_s5 > 0 && _s6 <= 0) {
            var _this66 = this.tmpVertices[this.numTmpVertices++];
            _this66.x = _v9.x;
            _this66.y = _v9.y;
            _this66.wx = _v9.wx;
            _this66.wy = _v9.wy;
            _this66.wz = _v9.wz;

            var _t10 = _s5 / (_s5 - _s6);

            var _this67 = this.tmpVertices[this.numTmpVertices++];
            _this67.x = _v9.x + (_v10.x - _v9.x) * _t10;
            _this67.y = _v9.y + (_v10.y - _v9.y) * _t10;
            _this67.wx = _v9.wx + (_v10.wx - _v9.wx) * _t10;
            _this67.wy = _v9.wy + (_v10.wy - _v9.wy) * _t10;
            _this67.wz = _v9.wz + (_v10.wz - _v9.wz) * _t10;
          } else if (_s5 <= 0 && _s6 > 0) {
            var _t11 = _s5 / (_s5 - _s6);

            var _this68 = this.tmpVertices[this.numTmpVertices++];
            _this68.x = _v9.x + (_v10.x - _v9.x) * _t11;
            _this68.y = _v9.y + (_v10.y - _v9.y) * _t11;
            _this68.wx = _v9.wx + (_v10.wx - _v9.wx) * _t11;
            _this68.wy = _v9.wy + (_v10.wy - _v9.wy) * _t11;
            _this68.wz = _v9.wz + (_v10.wz - _v9.wz) * _t11;
          }
        }

        var tmp3 = this.vertices;
        this.vertices = this.tmpVertices;
        this.tmpVertices = tmp3;
        this.numVertices = this.numTmpVertices;
        this.numTmpVertices = 0;
      }
    }, {
      key: "reduce",
      value: function reduce() {
        if (this.numVertices < 4) {
          return;
        }

        var max1 = -1e65536;
        var min1 = 1e65536;
        var max2 = -1e65536;
        var min2 = 1e65536;
        var max1V = null;
        var min1V = null;
        var max2V = null;
        var min2V = null;
        var e1x = 1;
        var e1y = 1;
        var e2x = -1;
        var e2y = 1;
        var _g = 0;
        var _g1 = this.numVertices;

        while (_g < _g1) {
          var v = this.vertices[_g++];
          var dot1 = v.x * e1x + v.y * e1y;
          var dot2 = v.x * e2x + v.y * e2y;

          if (dot1 > max1) {
            max1 = dot1;
            max1V = v;
          }

          if (dot1 < min1) {
            min1 = dot1;
            min1V = v;
          }

          if (dot2 > max2) {
            max2 = dot2;
            max2V = v;
          }

          if (dot2 < min2) {
            min2 = dot2;
            min2V = v;
          }
        }

        var _this = this.tmpVertices[this.numTmpVertices++];
        _this.x = max1V.x;
        _this.y = max1V.y;
        _this.wx = max1V.wx;
        _this.wy = max1V.wy;
        _this.wz = max1V.wz;
        var _this1 = this.tmpVertices[this.numTmpVertices++];
        _this1.x = max2V.x;
        _this1.y = max2V.y;
        _this1.wx = max2V.wx;
        _this1.wy = max2V.wy;
        _this1.wz = max2V.wz;
        var _this2 = this.tmpVertices[this.numTmpVertices++];
        _this2.x = min1V.x;
        _this2.y = min1V.y;
        _this2.wx = min1V.wx;
        _this2.wy = min1V.wy;
        _this2.wz = min1V.wz;
        var _this3 = this.tmpVertices[this.numTmpVertices++];
        _this3.x = min2V.x;
        _this3.y = min2V.y;
        _this3.wx = min2V.wx;
        _this3.wy = min2V.wy;
        _this3.wz = min2V.wz;
        var tmp = this.vertices;
        this.vertices = this.tmpVertices;
        this.tmpVertices = tmp;
        this.numVertices = this.numTmpVertices;
        this.numTmpVertices = 0;
      }
    }]);

    return oimo_collision_narrowphase_detector__$BoxBoxDetector_FaceClipper;
  }();

  oimo.collision.narrowphase.detector.BoxBoxDetectorMacro = /*#__PURE__*/_createClass(function oimo_collision_narrowphase_detector_BoxBoxDetectorMacro() {
    _classCallCheck(this, oimo_collision_narrowphase_detector_BoxBoxDetectorMacro);
  });

  oimo.collision.narrowphase.detector.CachedDetectorData = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_CachedDetectorData() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_CachedDetectorData);
    }

    _createClass(oimo_collision_narrowphase_detector_CachedDetectorData, [{
      key: "_clear",
      value: function _clear() {
        if (this._gjkCache != null) {
          this._gjkCache.clear();
        }
      }
    }]);

    return oimo_collision_narrowphase_detector_CachedDetectorData;
  }();

  oimo.collision.narrowphase.detector.CapsuleCapsuleDetector = /*#__PURE__*/function (_oimo$collision$narro2) {
    _inherits(oimo_collision_narrowphase_detector_CapsuleCapsuleDetector, _oimo$collision$narro2);

    var _super14 = _createSuper(oimo_collision_narrowphase_detector_CapsuleCapsuleDetector);

    function oimo_collision_narrowphase_detector_CapsuleCapsuleDetector() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_CapsuleCapsuleDetector);

      return _super14.call(this, false);
    }

    _createClass(oimo_collision_narrowphase_detector_CapsuleCapsuleDetector, [{
      key: "detectImpl",
      value: function detectImpl(result, geom1, geom2, tf1, tf2, cachedData) {
        var c1 = geom1;
        var c2 = geom2;
        result.incremental = false;
        var axis1X;
        var axis1Y;
        var axis1Z;
        var axis2X;
        var axis2Y;
        var axis2Z;
        axis1X = tf1._rotation01;
        axis1Y = tf1._rotation11;
        axis1Z = tf1._rotation21;
        axis2X = tf2._rotation01;
        axis2Y = tf2._rotation11;
        axis2Z = tf2._rotation21;
        var hh1 = c1._halfHeight;
        var hh2 = c2._halfHeight;
        var r1 = c1._radius;
        var r2 = c2._radius;
        var p1X;
        var p1Y;
        var p1Z;
        var q1X;
        var q1Y;
        var q1Z;
        var p2X;
        var p2Y;
        var p2Z;
        var q2X;
        var q2Y;
        var q2Z;
        p1X = tf1._positionX + axis1X * -hh1;
        p1Y = tf1._positionY + axis1Y * -hh1;
        p1Z = tf1._positionZ + axis1Z * -hh1;
        q1X = tf1._positionX + axis1X * hh1;
        q1Y = tf1._positionY + axis1Y * hh1;
        q1Z = tf1._positionZ + axis1Z * hh1;
        p2X = tf2._positionX + axis2X * -hh2;
        p2Y = tf2._positionY + axis2Y * -hh2;
        p2Z = tf2._positionZ + axis2Z * -hh2;
        q2X = tf2._positionX + axis2X * hh2;
        q2Y = tf2._positionY + axis2Y * hh2;
        q2Z = tf2._positionZ + axis2Z * hh2;
        var p12X;
        var p12Y;
        var p12Z;
        p12X = p1X - p2X;
        p12Y = p1Y - p2Y;
        p12Z = p1Z - p2Z;
        var d1X;
        var d1Y;
        var d1Z;
        var d2X;
        var d2Y;
        var d2Z;
        d1X = q1X - p1X;
        d1Y = q1Y - p1Y;
        d1Z = q1Z - p1Z;
        d2X = q2X - p2X;
        d2Y = q2Y - p2Y;
        d2Z = q2Z - p2Z;
        var p21d1 = -(p12X * d1X + p12Y * d1Y + p12Z * d1Z);
        var p12d2 = p12X * d2X + p12Y * d2Y + p12Z * d2Z;
        var d11 = hh1 * hh1 * 4;
        var d12 = d1X * d2X + d1Y * d2Y + d1Z * d2Z;
        var d22 = hh2 * hh2 * 4;
        var t1;
        var t2;

        if (d11 == 0 && d22 == 0) {
          t1 = 0;
          t2 = 0;
        } else if (d11 == 0) {
          t1 = 0;

          if (p12d2 < 0) {
            t2 = 0;
          } else if (p12d2 > d22) {
            t2 = 1;
          } else {
            t2 = p12d2 / d22;
          }
        } else if (d22 == 0) {
          t2 = 0;

          if (p21d1 < 0) {
            t1 = 0;
          } else if (p21d1 > d11) {
            t1 = 1;
          } else {
            t1 = p21d1 / d11;
          }
        } else {
          var det = d11 * d22 - d12 * d12;

          if (det == 0) {
            t1 = 0;
          } else {
            t1 = d12 * p12d2 + d22 * p21d1;

            if (t1 < 0) {
              t1 = 0;
            } else if (t1 > det) {
              t1 = 1;
            } else {
              t1 /= det;
            }
          }

          t2 = t1 * d12 + p12d2;

          if (t2 < 0) {
            t2 = 0;

            if (p21d1 < 0) {
              t1 = 0;
            } else if (p21d1 > d11) {
              t1 = 1;
            } else {
              t1 = p21d1 / d11;
            }
          } else if (t2 > d22) {
            t2 = 1;
            t1 = d12 + p21d1;

            if (t1 < 0) {
              t1 = 0;
            } else if (t1 > d11) {
              t1 = 1;
            } else {
              t1 /= d11;
            }
          } else {
            t2 /= d22;
          }
        }

        var cp1X;
        var cp1Y;
        var cp1Z;
        var cp2X;
        var cp2Y;
        var cp2Z;
        cp1X = p1X + d1X * t1;
        cp1Y = p1Y + d1Y * t1;
        cp1Z = p1Z + d1Z * t1;
        cp2X = p2X + d2X * t2;
        cp2Y = p2Y + d2Y * t2;
        cp2Z = p2Z + d2Z * t2;
        var dX;
        var dY;
        var dZ;
        dX = cp1X - cp2X;
        dY = cp1Y - cp2Y;
        dZ = cp1Z - cp2Z;
        var len2 = dX * dX + dY * dY + dZ * dZ;

        if (len2 >= (r1 + r2) * (r1 + r2)) {
          return;
        }

        var len = Math.sqrt(len2);
        var nX;
        var nY;
        var nZ;

        if (len > 0) {
          nX = dX * (1 / len);
          nY = dY * (1 / len);
          nZ = dZ * (1 / len);
        } else {
          nX = 1;
          nY = 0;
          nZ = 0;
        }

        this.setNormal(result, nX, nY, nZ);
        var pos1X;
        var pos1Y;
        var pos1Z;
        var pos2X;
        var pos2Y;
        var pos2Z;
        pos1X = cp1X + nX * -r1;
        pos1Y = cp1Y + nY * -r1;
        pos1Z = cp1Z + nZ * -r1;
        pos2X = cp2X + nX * r2;
        pos2Y = cp2Y + nY * r2;
        pos2Z = cp2Z + nZ * r2;
        this.addPoint(result, pos1X, pos1Y, pos1Z, pos2X, pos2Y, pos2Z, r1 + r2 - len, 0);
      }
    }]);

    return oimo_collision_narrowphase_detector_CapsuleCapsuleDetector;
  }(oimo.collision.narrowphase.detector.Detector);

  oimo.collision.narrowphase.detector.GjkEpaDetector = /*#__PURE__*/function (_oimo$collision$narro3) {
    _inherits(oimo_collision_narrowphase_detector_GjkEpaDetector, _oimo$collision$narro3);

    var _super15 = _createSuper(oimo_collision_narrowphase_detector_GjkEpaDetector);

    function oimo_collision_narrowphase_detector_GjkEpaDetector() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_GjkEpaDetector);

      return _super15.call(this, false);
    }

    _createClass(oimo_collision_narrowphase_detector_GjkEpaDetector, [{
      key: "detectImpl",
      value: function detectImpl(result, geom1, geom2, tf1, tf2, cachedData) {
        var gjkEpa = oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;
        var g1 = geom1;
        var g2 = geom2;
        var status = gjkEpa.computeClosestPointsImpl(g1, g2, tf1, tf2, oimo.common.Setting.enableGJKCaching ? cachedData : null, true);
        result.incremental = true;

        if (status != oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.SUCCEEDED) {
          console.log("src/oimo/collision/narrowphase/detector/GjkEpaDetector.hx:28:", "GJK/EPA failed: status=" + status);
          return;
        }

        if (gjkEpa.distance > g1._gjkMargin + g2._gjkMargin) {
          return;
        }

        var pos1X;
        var pos1Y;
        var pos1Z;
        var pos2X;
        var pos2Y;
        var pos2Z;
        var v = gjkEpa.closestPoint1;
        pos1X = v.x;
        pos1Y = v.y;
        pos1Z = v.z;
        var v1 = gjkEpa.closestPoint2;
        pos2X = v1.x;
        pos2Y = v1.y;
        pos2Z = v1.z;
        var normalX;
        var normalY;
        var normalZ;
        normalX = pos1X - pos2X;
        normalY = pos1Y - pos2Y;
        normalZ = pos1Z - pos2Z;

        if (normalX * normalX + normalY * normalY + normalZ * normalZ == 0) {
          return;
        }

        if (gjkEpa.distance < 0) {
          normalX = -normalX;
          normalY = -normalY;
          normalZ = -normalZ;
        }

        var l = normalX * normalX + normalY * normalY + normalZ * normalZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        normalX *= l;
        normalY *= l;
        normalZ *= l;
        this.setNormal(result, normalX, normalY, normalZ);
        pos1X += normalX * -g1._gjkMargin;
        pos1Y += normalY * -g1._gjkMargin;
        pos1Z += normalZ * -g1._gjkMargin;
        pos2X += normalX * g2._gjkMargin;
        pos2Y += normalY * g2._gjkMargin;
        pos2Z += normalZ * g2._gjkMargin;
        this.addPoint(result, pos1X, pos1Y, pos1Z, pos2X, pos2Y, pos2Z, g1._gjkMargin + g2._gjkMargin - gjkEpa.distance, 0);
      }
    }]);

    return oimo_collision_narrowphase_detector_GjkEpaDetector;
  }(oimo.collision.narrowphase.detector.Detector);

  oimo.collision.narrowphase.detector.SphereBoxDetector = /*#__PURE__*/function (_oimo$collision$narro4) {
    _inherits(oimo_collision_narrowphase_detector_SphereBoxDetector, _oimo$collision$narro4);

    var _super16 = _createSuper(oimo_collision_narrowphase_detector_SphereBoxDetector);

    function oimo_collision_narrowphase_detector_SphereBoxDetector(swapped) {
      _classCallCheck(this, oimo_collision_narrowphase_detector_SphereBoxDetector);

      return _super16.call(this, swapped);
    }

    _createClass(oimo_collision_narrowphase_detector_SphereBoxDetector, [{
      key: "detectImpl",
      value: function detectImpl(result, geom1, geom2, tf1, tf2, cachedData) {
        var b = geom2;
        result.incremental = false;
        var halfExtX;
        var halfExtY;
        var halfExtZ;
        var negHalfExtX;
        var negHalfExtY;
        var negHalfExtZ;
        halfExtX = b._halfExtentsX;
        halfExtY = b._halfExtentsY;
        halfExtZ = b._halfExtentsZ;
        negHalfExtX = -halfExtX;
        negHalfExtY = -halfExtY;
        negHalfExtZ = -halfExtZ;
        var r = geom1._radius;
        var boxToSphereX;
        var boxToSphereY;
        var boxToSphereZ;
        boxToSphereX = tf1._positionX - tf2._positionX;
        boxToSphereY = tf1._positionY - tf2._positionY;
        boxToSphereZ = tf1._positionZ - tf2._positionZ;
        var boxToSphereInBoxX;
        var boxToSphereInBoxY;
        var boxToSphereInBoxZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf2._rotation00 * boxToSphereX + tf2._rotation10 * boxToSphereY + tf2._rotation20 * boxToSphereZ;
        __tmp__Y = tf2._rotation01 * boxToSphereX + tf2._rotation11 * boxToSphereY + tf2._rotation21 * boxToSphereZ;
        __tmp__Z = tf2._rotation02 * boxToSphereX + tf2._rotation12 * boxToSphereY + tf2._rotation22 * boxToSphereZ;
        boxToSphereInBoxX = __tmp__X;
        boxToSphereInBoxY = __tmp__Y;
        boxToSphereInBoxZ = __tmp__Z;

        if (negHalfExtX < boxToSphereInBoxX && halfExtX > boxToSphereInBoxX && negHalfExtY < boxToSphereInBoxY && halfExtY > boxToSphereInBoxY && negHalfExtZ < boxToSphereInBoxZ && halfExtZ > boxToSphereInBoxZ) {
          var sphereToBoxSurfaceX;
          var sphereToBoxSurfaceY;
          var sphereToBoxSurfaceZ;
          sphereToBoxSurfaceX = boxToSphereInBoxX < 0 ? -boxToSphereInBoxX : boxToSphereInBoxX;
          sphereToBoxSurfaceY = boxToSphereInBoxY < 0 ? -boxToSphereInBoxY : boxToSphereInBoxY;
          sphereToBoxSurfaceZ = boxToSphereInBoxZ < 0 ? -boxToSphereInBoxZ : boxToSphereInBoxZ;
          sphereToBoxSurfaceX = halfExtX - sphereToBoxSurfaceX;
          sphereToBoxSurfaceY = halfExtY - sphereToBoxSurfaceY;
          sphereToBoxSurfaceZ = halfExtZ - sphereToBoxSurfaceZ;
          var normalInBoxX;
          var normalInBoxY;
          var normalInBoxZ;
          var distX = sphereToBoxSurfaceX;
          var distY = sphereToBoxSurfaceY;
          var distZ = sphereToBoxSurfaceZ;
          var depth;
          var projectionMaskX;
          var projectionMaskY;
          var projectionMaskZ;

          if (distX < distY) {
            if (distX < distZ) {
              if (boxToSphereInBoxX > 0) {
                normalInBoxX = 1;
                normalInBoxY = 0;
                normalInBoxZ = 0;
              } else {
                normalInBoxX = -1;
                normalInBoxY = 0;
                normalInBoxZ = 0;
              }

              projectionMaskX = 0;
              projectionMaskY = 1;
              projectionMaskZ = 1;
              depth = distX;
            } else {
              if (boxToSphereInBoxZ > 0) {
                normalInBoxX = 0;
                normalInBoxY = 0;
                normalInBoxZ = 1;
              } else {
                normalInBoxX = 0;
                normalInBoxY = 0;
                normalInBoxZ = -1;
              }

              projectionMaskX = 1;
              projectionMaskY = 1;
              projectionMaskZ = 0;
              depth = distZ;
            }
          } else if (distY < distZ) {
            if (boxToSphereInBoxY > 0) {
              normalInBoxX = 0;
              normalInBoxY = 1;
              normalInBoxZ = 0;
            } else {
              normalInBoxX = 0;
              normalInBoxY = -1;
              normalInBoxZ = 0;
            }

            projectionMaskX = 1;
            projectionMaskY = 0;
            projectionMaskZ = 1;
            depth = distY;
          } else {
            if (boxToSphereInBoxZ > 0) {
              normalInBoxX = 0;
              normalInBoxY = 0;
              normalInBoxZ = 1;
            } else {
              normalInBoxX = 0;
              normalInBoxY = 0;
              normalInBoxZ = -1;
            }

            projectionMaskX = 1;
            projectionMaskY = 1;
            projectionMaskZ = 0;
            depth = distZ;
          }

          var baseX;
          var baseY;
          var baseZ;
          baseX = projectionMaskX * boxToSphereInBoxX;
          baseY = projectionMaskY * boxToSphereInBoxY;
          baseZ = projectionMaskZ * boxToSphereInBoxZ;

          var _boxToClosestPointInBoxX;

          var _boxToClosestPointInBoxY;

          var _boxToClosestPointInBoxZ;

          _boxToClosestPointInBoxX = normalInBoxX * halfExtX;
          _boxToClosestPointInBoxY = normalInBoxY * halfExtY;
          _boxToClosestPointInBoxZ = normalInBoxZ * halfExtZ;
          _boxToClosestPointInBoxX += baseX;
          _boxToClosestPointInBoxY += baseY;
          _boxToClosestPointInBoxZ += baseZ;

          var _boxToClosestPointX;

          var _boxToClosestPointY;

          var _boxToClosestPointZ;

          var _normalX2;

          var _normalY2;

          var _normalZ2;

          var _tmp__X4;

          var _tmp__Y4;

          var _tmp__Z4;

          _tmp__X4 = tf2._rotation00 * _boxToClosestPointInBoxX + tf2._rotation01 * _boxToClosestPointInBoxY + tf2._rotation02 * _boxToClosestPointInBoxZ;
          _tmp__Y4 = tf2._rotation10 * _boxToClosestPointInBoxX + tf2._rotation11 * _boxToClosestPointInBoxY + tf2._rotation12 * _boxToClosestPointInBoxZ;
          _tmp__Z4 = tf2._rotation20 * _boxToClosestPointInBoxX + tf2._rotation21 * _boxToClosestPointInBoxY + tf2._rotation22 * _boxToClosestPointInBoxZ;
          _boxToClosestPointX = _tmp__X4;
          _boxToClosestPointY = _tmp__Y4;
          _boxToClosestPointZ = _tmp__Z4;

          var _tmp__X5;

          var _tmp__Y5;

          var _tmp__Z5;

          _tmp__X5 = tf2._rotation00 * normalInBoxX + tf2._rotation01 * normalInBoxY + tf2._rotation02 * normalInBoxZ;
          _tmp__Y5 = tf2._rotation10 * normalInBoxX + tf2._rotation11 * normalInBoxY + tf2._rotation12 * normalInBoxZ;
          _tmp__Z5 = tf2._rotation20 * normalInBoxX + tf2._rotation21 * normalInBoxY + tf2._rotation22 * normalInBoxZ;
          _normalX2 = _tmp__X5;
          _normalY2 = _tmp__Y5;
          _normalZ2 = _tmp__Z5;
          this.setNormal(result, _normalX2, _normalY2, _normalZ2);

          var _pos1X;

          var _pos1Y;

          var _pos1Z;

          var _pos2X;

          var _pos2Y;

          var _pos2Z;

          _pos1X = tf1._positionX + _normalX2 * -r;
          _pos1Y = tf1._positionY + _normalY2 * -r;
          _pos1Z = tf1._positionZ + _normalZ2 * -r;
          _pos2X = tf2._positionX + _boxToClosestPointX;
          _pos2Y = tf2._positionY + _boxToClosestPointY;
          _pos2Z = tf2._positionZ + _boxToClosestPointZ;
          this.addPoint(result, _pos1X, _pos1Y, _pos1Z, _pos2X, _pos2Y, _pos2Z, depth, 0);
          return;
        }

        var boxToClosestPointInBoxX;
        var boxToClosestPointInBoxY;
        var boxToClosestPointInBoxZ;
        halfExtX -= 1e-9;
        halfExtY -= 1e-9;
        halfExtZ -= 1e-9;
        negHalfExtX += 1e-9;
        negHalfExtY += 1e-9;
        negHalfExtZ += 1e-9;
        boxToClosestPointInBoxX = boxToSphereInBoxX < halfExtX ? boxToSphereInBoxX : halfExtX;
        boxToClosestPointInBoxY = boxToSphereInBoxY < halfExtY ? boxToSphereInBoxY : halfExtY;
        boxToClosestPointInBoxZ = boxToSphereInBoxZ < halfExtZ ? boxToSphereInBoxZ : halfExtZ;

        if (!(boxToClosestPointInBoxX > negHalfExtX)) {
          boxToClosestPointInBoxX = negHalfExtX;
        }

        if (!(boxToClosestPointInBoxY > negHalfExtY)) {
          boxToClosestPointInBoxY = negHalfExtY;
        }

        if (!(boxToClosestPointInBoxZ > negHalfExtZ)) {
          boxToClosestPointInBoxZ = negHalfExtZ;
        }

        var closestPointToSphereInBoxX;
        var closestPointToSphereInBoxY;
        var closestPointToSphereInBoxZ;
        closestPointToSphereInBoxX = boxToSphereInBoxX - boxToClosestPointInBoxX;
        closestPointToSphereInBoxY = boxToSphereInBoxY - boxToClosestPointInBoxY;
        closestPointToSphereInBoxZ = boxToSphereInBoxZ - boxToClosestPointInBoxZ;
        var dist = closestPointToSphereInBoxX * closestPointToSphereInBoxX + closestPointToSphereInBoxY * closestPointToSphereInBoxY + closestPointToSphereInBoxZ * closestPointToSphereInBoxZ;

        if (dist >= r * r) {
          return;
        }

        dist = Math.sqrt(dist);
        var boxToClosestPointX;
        var boxToClosestPointY;
        var boxToClosestPointZ;
        var closestPointToSphereX;
        var closestPointToSphereY;
        var closestPointToSphereZ;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = tf2._rotation00 * boxToClosestPointInBoxX + tf2._rotation01 * boxToClosestPointInBoxY + tf2._rotation02 * boxToClosestPointInBoxZ;
        __tmp__Y1 = tf2._rotation10 * boxToClosestPointInBoxX + tf2._rotation11 * boxToClosestPointInBoxY + tf2._rotation12 * boxToClosestPointInBoxZ;
        __tmp__Z1 = tf2._rotation20 * boxToClosestPointInBoxX + tf2._rotation21 * boxToClosestPointInBoxY + tf2._rotation22 * boxToClosestPointInBoxZ;
        boxToClosestPointX = __tmp__X1;
        boxToClosestPointY = __tmp__Y1;
        boxToClosestPointZ = __tmp__Z1;

        var __tmp__X2;

        var __tmp__Y2;

        var __tmp__Z2;

        __tmp__X2 = tf2._rotation00 * closestPointToSphereInBoxX + tf2._rotation01 * closestPointToSphereInBoxY + tf2._rotation02 * closestPointToSphereInBoxZ;
        __tmp__Y2 = tf2._rotation10 * closestPointToSphereInBoxX + tf2._rotation11 * closestPointToSphereInBoxY + tf2._rotation12 * closestPointToSphereInBoxZ;
        __tmp__Z2 = tf2._rotation20 * closestPointToSphereInBoxX + tf2._rotation21 * closestPointToSphereInBoxY + tf2._rotation22 * closestPointToSphereInBoxZ;
        closestPointToSphereX = __tmp__X2;
        closestPointToSphereY = __tmp__Y2;
        closestPointToSphereZ = __tmp__Z2;
        var normalX;
        var normalY;
        var normalZ;
        var l = closestPointToSphereX * closestPointToSphereX + closestPointToSphereY * closestPointToSphereY + closestPointToSphereZ * closestPointToSphereZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        normalX = closestPointToSphereX * l;
        normalY = closestPointToSphereY * l;
        normalZ = closestPointToSphereZ * l;
        this.setNormal(result, normalX, normalY, normalZ);
        var pos1X;
        var pos1Y;
        var pos1Z;
        var pos2X;
        var pos2Y;
        var pos2Z;
        pos1X = tf1._positionX + normalX * -r;
        pos1Y = tf1._positionY + normalY * -r;
        pos1Z = tf1._positionZ + normalZ * -r;
        pos2X = tf2._positionX + boxToClosestPointX;
        pos2Y = tf2._positionY + boxToClosestPointY;
        pos2Z = tf2._positionZ + boxToClosestPointZ;
        this.addPoint(result, pos1X, pos1Y, pos1Z, pos2X, pos2Y, pos2Z, r - dist, 0);
      }
    }]);

    return oimo_collision_narrowphase_detector_SphereBoxDetector;
  }(oimo.collision.narrowphase.detector.Detector);

  oimo.collision.narrowphase.detector.SphereCapsuleDetector = /*#__PURE__*/function (_oimo$collision$narro5) {
    _inherits(oimo_collision_narrowphase_detector_SphereCapsuleDetector, _oimo$collision$narro5);

    var _super17 = _createSuper(oimo_collision_narrowphase_detector_SphereCapsuleDetector);

    function oimo_collision_narrowphase_detector_SphereCapsuleDetector(swapped) {
      _classCallCheck(this, oimo_collision_narrowphase_detector_SphereCapsuleDetector);

      return _super17.call(this, swapped);
    }

    _createClass(oimo_collision_narrowphase_detector_SphereCapsuleDetector, [{
      key: "detectImpl",
      value: function detectImpl(result, geom1, geom2, tf1, tf2, cachedData) {
        var c2 = geom2;
        result.incremental = false;
        var hh2 = c2._halfHeight;
        var r1 = geom1._radius;
        var r2 = c2._radius;
        var axis2X;
        var axis2Y;
        var axis2Z;
        axis2X = tf2._rotation01;
        axis2Y = tf2._rotation11;
        axis2Z = tf2._rotation21;
        var cp1X;
        var cp1Y;
        var cp1Z;
        cp1X = tf1._positionX;
        cp1Y = tf1._positionY;
        cp1Z = tf1._positionZ;
        var p2X;
        var p2Y;
        var p2Z;
        var q2X;
        var q2Y;
        var q2Z;
        p2X = tf2._positionX + axis2X * -hh2;
        p2Y = tf2._positionY + axis2Y * -hh2;
        p2Z = tf2._positionZ + axis2Z * -hh2;
        q2X = tf2._positionX + axis2X * hh2;
        q2Y = tf2._positionY + axis2Y * hh2;
        q2Z = tf2._positionZ + axis2Z * hh2;
        var p12X;
        var p12Y;
        var p12Z;
        p12X = cp1X - p2X;
        p12Y = cp1Y - p2Y;
        p12Z = cp1Z - p2Z;
        var d2X;
        var d2Y;
        var d2Z;
        d2X = q2X - p2X;
        d2Y = q2Y - p2Y;
        d2Z = q2Z - p2Z;
        var d22 = hh2 * hh2 * 4;
        var t = p12X * d2X + p12Y * d2Y + p12Z * d2Z;

        if (t < 0) {
          t = 0;
        } else if (t > d22) {
          t = 1;
        } else {
          t /= d22;
        }

        var cp2X;
        var cp2Y;
        var cp2Z;
        cp2X = p2X + d2X * t;
        cp2Y = p2Y + d2Y * t;
        cp2Z = p2Z + d2Z * t;
        var dX;
        var dY;
        var dZ;
        dX = cp1X - cp2X;
        dY = cp1Y - cp2Y;
        dZ = cp1Z - cp2Z;
        var len2 = dX * dX + dY * dY + dZ * dZ;

        if (len2 >= (r1 + r2) * (r1 + r2)) {
          return;
        }

        var len = Math.sqrt(len2);
        var nX;
        var nY;
        var nZ;

        if (len > 0) {
          nX = dX * (1 / len);
          nY = dY * (1 / len);
          nZ = dZ * (1 / len);
        } else {
          nX = 1;
          nY = 0;
          nZ = 0;
        }

        this.setNormal(result, nX, nY, nZ);
        var pos1X;
        var pos1Y;
        var pos1Z;
        var pos2X;
        var pos2Y;
        var pos2Z;
        pos1X = cp1X + nX * -r1;
        pos1Y = cp1Y + nY * -r1;
        pos1Z = cp1Z + nZ * -r1;
        pos2X = cp2X + nX * r2;
        pos2Y = cp2Y + nY * r2;
        pos2Z = cp2Z + nZ * r2;
        this.addPoint(result, pos1X, pos1Y, pos1Z, pos2X, pos2Y, pos2Z, r1 + r2 - len, 0);
      }
    }]);

    return oimo_collision_narrowphase_detector_SphereCapsuleDetector;
  }(oimo.collision.narrowphase.detector.Detector);

  oimo.collision.narrowphase.detector.SphereSphereDetector = /*#__PURE__*/function (_oimo$collision$narro6) {
    _inherits(oimo_collision_narrowphase_detector_SphereSphereDetector, _oimo$collision$narro6);

    var _super18 = _createSuper(oimo_collision_narrowphase_detector_SphereSphereDetector);

    function oimo_collision_narrowphase_detector_SphereSphereDetector() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_SphereSphereDetector);

      return _super18.call(this, false);
    }

    _createClass(oimo_collision_narrowphase_detector_SphereSphereDetector, [{
      key: "detectImpl",
      value: function detectImpl(result, geom1, geom2, tf1, tf2, cachedData) {
        result.incremental = false;
        var dX;
        var dY;
        var dZ;
        dX = tf1._positionX - tf2._positionX;
        dY = tf1._positionY - tf2._positionY;
        dZ = tf1._positionZ - tf2._positionZ;
        var r1 = geom1._radius;
        var r2 = geom2._radius;
        var len2 = dX * dX + dY * dY + dZ * dZ;

        if (len2 >= (r1 + r2) * (r1 + r2)) {
          return;
        }

        var len = Math.sqrt(len2);
        var nX;
        var nY;
        var nZ;

        if (len > 0) {
          nX = dX * (1 / len);
          nY = dY * (1 / len);
          nZ = dZ * (1 / len);
        } else {
          nX = 1;
          nY = 0;
          nZ = 0;
        }

        this.setNormal(result, nX, nY, nZ);
        var pos1X;
        var pos1Y;
        var pos1Z;
        var pos2X;
        var pos2Y;
        var pos2Z;
        pos1X = tf1._positionX + nX * -r1;
        pos1Y = tf1._positionY + nY * -r1;
        pos1Z = tf1._positionZ + nZ * -r1;
        pos2X = tf2._positionX + nX * r2;
        pos2Y = tf2._positionY + nY * r2;
        pos2Z = tf2._positionZ + nZ * r2;
        this.addPoint(result, pos1X, pos1Y, pos1Z, pos2X, pos2Y, pos2Z, r1 + r2 - len, 0);
      }
    }]);

    return oimo_collision_narrowphase_detector_SphereSphereDetector;
  }(oimo.collision.narrowphase.detector.Detector);

  if (!oimo.collision.narrowphase.detector.gjkepa) oimo.collision.narrowphase.detector.gjkepa = {};

  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedron = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedron() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedron);

      this._vertices = new Array(oimo.common.Setting.maxEPAVertices);
      this._center = new oimo.common.Vec3();
      this._numVertices = 0;
      this._triangleList = null;
      this._triangleListLast = null;
      this._numTriangles = 0;
      this._trianglePool = null;
      this._vertexPool = null;
    }

    _createClass(oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedron, [{
      key: "dumpHoleEdge",
      value: function dumpHoleEdge(first) {}
    }, {
      key: "validate",
      value: function validate() {
        var t = this._triangleList;

        while (t != null) {
          t._vertices[0]._tmpEdgeLoopOuterTriangle = null;
          t._vertices[0]._tmpEdgeLoopNext = null;

          if (t._adjacentPairIndex[0] == -1) {
            this._status = 2;
            return false;
          }

          if (t._adjacentTriangles[0] == null) {
            this._status = 3;
            return false;
          }

          t._vertices[1]._tmpEdgeLoopOuterTriangle = null;
          t._vertices[1]._tmpEdgeLoopNext = null;

          if (t._adjacentPairIndex[1] == -1) {
            this._status = 2;
            return false;
          }

          if (t._adjacentTriangles[1] == null) {
            this._status = 3;
            return false;
          }

          t._vertices[2]._tmpEdgeLoopOuterTriangle = null;
          t._vertices[2]._tmpEdgeLoopNext = null;

          if (t._adjacentPairIndex[2] == -1) {
            this._status = 2;
            return false;
          }

          if (t._adjacentTriangles[2] == null) {
            this._status = 3;
            return false;
          }

          t = t._next;
        }

        return true;
      }
    }, {
      key: "findEdgeLoop",
      value: function findEdgeLoop(id, base, from) {
        if (base._tmpDfsId == id) {
          return;
        }

        base._tmpDfsId = id;
        var _this = base.tmp;
        _this.x = from.x;
        _this.y = from.y;
        _this.z = from.z;
        var v = base._vertices[0].v;
        _this.x -= v.x;
        _this.y -= v.y;
        _this.z -= v.z;
        var _this1 = base.tmp;
        var v1 = base._normal;
        base._tmpDfsVisible = _this1.x * v1.x + _this1.y * v1.y + _this1.z * v1.z > 0;

        if (!base._tmpDfsVisible) {
          this._status = 6;
          return;
        }

        var _g = 0;

        while (_g < 3) {
          var i = _g++;
          var t = base._adjacentTriangles[i];

          if (t == null) {
            continue;
          }

          var _this69 = t.tmp;
          _this69.x = from.x;
          _this69.y = from.y;
          _this69.z = from.z;
          var _v11 = t._vertices[0].v;
          _this69.x -= _v11.x;
          _this69.y -= _v11.y;
          _this69.z -= _v11.z;
          var _this70 = t.tmp;
          var _v12 = t._normal;
          t._tmpDfsVisible = _this70.x * _v12.x + _this70.y * _v12.y + _this70.z * _v12.z > 0;

          if (t._tmpDfsVisible) {
            this.findEdgeLoop(id, t, from);
          } else {
            var _v13 = base._vertices[i];
            _v13._tmpEdgeLoopNext = base._vertices[base._nextIndex[i]];
            _v13._tmpEdgeLoopOuterTriangle = t;
          }
        }

        var triangle = base._adjacentTriangles[0];

        if (triangle != null) {
          var pairIndex = base._adjacentPairIndex[0];
          triangle._adjacentTriangles[pairIndex] = null;
          triangle._adjacentPairIndex[pairIndex] = -1;
          base._adjacentTriangles[0] = null;
          base._adjacentPairIndex[0] = -1;
        }

        var triangle1 = base._adjacentTriangles[1];

        if (triangle1 != null) {
          var _pairIndex = base._adjacentPairIndex[1];
          triangle1._adjacentTriangles[_pairIndex] = null;
          triangle1._adjacentPairIndex[_pairIndex] = -1;
          base._adjacentTriangles[1] = null;
          base._adjacentPairIndex[1] = -1;
        }

        var triangle2 = base._adjacentTriangles[2];

        if (triangle2 != null) {
          var _pairIndex2 = base._adjacentPairIndex[2];
          triangle2._adjacentTriangles[_pairIndex2] = null;
          triangle2._adjacentPairIndex[_pairIndex2] = -1;
          base._adjacentTriangles[2] = null;
          base._adjacentPairIndex[2] = -1;
        }

        this._numTriangles--;
        var prev = base._prev;
        var next = base._next;

        if (prev != null) {
          prev._next = next;
        }

        if (next != null) {
          next._prev = prev;
        }

        if (base == this._triangleList) {
          this._triangleList = this._triangleList._next;
        }

        if (base == this._triangleListLast) {
          this._triangleListLast = this._triangleListLast._prev;
        }

        base._next = null;
        base._prev = null;
        base.removeReferences();
        base._next = this._trianglePool;
        this._trianglePool = base;
      }
    }, {
      key: "_init",
      value: function _init(v1, v2, v3, v4) {
        this._status = 0;
        this._numVertices = 4;
        this._vertices[0] = v1;
        this._vertices[1] = v2;
        this._vertices[2] = v3;
        this._vertices[3] = v4;
        var _this = this._center;
        var v = v1.v;
        _this.x = v.x;
        _this.y = v.y;
        _this.z = v.z;
        var v5 = v2.v;
        _this.x += v5.x;
        _this.y += v5.y;
        _this.z += v5.z;
        var v6 = v3.v;
        _this.x += v6.x;
        _this.y += v6.y;
        _this.z += v6.z;
        var v7 = v4.v;
        _this.x += v7.x;
        _this.y += v7.y;
        _this.z += v7.z;
        _this.x *= 0.25;
        _this.y *= 0.25;
        _this.z *= 0.25;
        var first = this._trianglePool;

        if (first != null) {
          this._trianglePool = first._next;
          first._next = null;
        } else {
          first = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
        }

        var t1 = first;
        var first1 = this._trianglePool;

        if (first1 != null) {
          this._trianglePool = first1._next;
          first1._next = null;
        } else {
          first1 = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
        }

        var t2 = first1;
        var first2 = this._trianglePool;

        if (first2 != null) {
          this._trianglePool = first2._next;
          first2._next = null;
        } else {
          first2 = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
        }

        var t3 = first2;
        var first3 = this._trianglePool;

        if (first3 != null) {
          this._trianglePool = first3._next;
          first3._next = null;
        } else {
          first3 = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
        }

        var t4 = first3;

        if (!t1.init(v1, v2, v3, this._center, true)) {
          this._status = 1;
        }

        if (!t2.init(v1, v2, v4, this._center, true)) {
          this._status = 1;
        }

        if (!t3.init(v1, v3, v4, this._center, true)) {
          this._status = 1;
        }

        if (!t4.init(v2, v3, v4, this._center, true)) {
          this._status = 1;
        }

        if (!t1.setAdjacentTriangle(t2)) {
          this._status = 1;
        }

        if (!t1.setAdjacentTriangle(t3)) {
          this._status = 1;
        }

        if (!t1.setAdjacentTriangle(t4)) {
          this._status = 1;
        }

        if (!t2.setAdjacentTriangle(t3)) {
          this._status = 1;
        }

        if (!t2.setAdjacentTriangle(t4)) {
          this._status = 1;
        }

        if (!t3.setAdjacentTriangle(t4)) {
          this._status = 1;
        }

        this._numTriangles++;

        if (this._triangleList == null) {
          this._triangleList = t1;
          this._triangleListLast = t1;
        } else {
          this._triangleListLast._next = t1;
          t1._prev = this._triangleListLast;
          this._triangleListLast = t1;
        }

        this._numTriangles++;

        if (this._triangleList == null) {
          this._triangleList = t2;
          this._triangleListLast = t2;
        } else {
          this._triangleListLast._next = t2;
          t2._prev = this._triangleListLast;
          this._triangleListLast = t2;
        }

        this._numTriangles++;

        if (this._triangleList == null) {
          this._triangleList = t3;
          this._triangleListLast = t3;
        } else {
          this._triangleListLast._next = t3;
          t3._prev = this._triangleListLast;
          this._triangleListLast = t3;
        }

        this._numTriangles++;

        if (this._triangleList == null) {
          this._triangleList = t4;
          this._triangleListLast = t4;
        } else {
          this._triangleListLast._next = t4;
          t4._prev = this._triangleListLast;
          this._triangleListLast = t4;
        }

        return this._status == 0;
      }
    }, {
      key: "_addVertex",
      value: function _addVertex(vertex, base) {
        this._vertices[this._numVertices++] = vertex;
        var v1 = base._vertices[0];
        this.findEdgeLoop(this._numVertices, base, vertex.v);

        if (this._status != 0) {
          return false;
        }

        var v = v1;
        var prevT = null;
        var firstT = null;

        while (true) {
          if (v._tmpEdgeLoopNext == null) {
            this._dumpAsObjModel();

            this._status = 4;
            return false;
          }

          if (v._tmpEdgeLoopOuterTriangle == null) {
            this._status = 5;
            return false;
          }

          var first = this._trianglePool;

          if (first != null) {
            this._trianglePool = first._next;
            first._next = null;
          } else {
            first = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
          }

          var t = first;

          if (firstT == null) {
            firstT = t;
          }

          if (!t.init(v, v._tmpEdgeLoopNext, vertex, this._center, false)) {
            this._status = 1;
          }

          if (this._status != 0) {
            return false;
          }

          this._numTriangles++;

          if (this._triangleList == null) {
            this._triangleList = t;
            this._triangleListLast = t;
          } else {
            this._triangleListLast._next = t;
            t._prev = this._triangleListLast;
            this._triangleListLast = t;
          }

          if (!t.setAdjacentTriangle(v._tmpEdgeLoopOuterTriangle)) {
            this._status = 1;
          }

          if (prevT != null) {
            if (!t.setAdjacentTriangle(prevT)) {
              this._status = 1;
            }
          }

          prevT = t;
          v = v._tmpEdgeLoopNext;

          if (!(v != v1)) {
            break;
          }
        }

        if (!prevT.setAdjacentTriangle(firstT)) {
          this._status = 1;
        }

        if (this._status == 0) {
          return this.validate();
        } else {
          return false;
        }
      }
    }, {
      key: "_dumpAsObjModel",
      value: function _dumpAsObjModel() {}
    }]);

    return oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedron;
  }();

  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState = /*#__PURE__*/_createClass(function oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedronState() {
    _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedronState);
  });

  oimo.collision.narrowphase.detector.gjkepa.EpaTriangle = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_gjkepa_EpaTriangle() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_EpaTriangle);

      this.id = ++oimo.collision.narrowphase.detector.gjkepa.EpaTriangle.count;
      this._next = null;
      this._prev = null;
      this._normal = new oimo.common.Vec3();
      this._distanceSq = 0;
      this._tmpDfsId = 0;
      this._tmpDfsVisible = false;
      this._vertices = new Array(3);
      this._adjacentTriangles = new Array(3);
      this._adjacentPairIndex = new Array(3);
      this.tmp = new oimo.common.Vec3();
      this._nextIndex = new Array(3);
      this._nextIndex[0] = 1;
      this._nextIndex[1] = 2;
      this._nextIndex[2] = 0;
    }

    _createClass(oimo_collision_narrowphase_detector_gjkepa_EpaTriangle, [{
      key: "init",
      value: function init(vertex1, vertex2, vertex3, center, autoCheck) {
        if (autoCheck == null) {
          autoCheck = false;
        }

        var v1X;
        var v1Y;
        var v1Z;
        var v2X;
        var v2Y;
        var v2Z;
        var v3X;
        var v3Y;
        var v3Z;
        var vcX;
        var vcY;
        var vcZ;
        var v = vertex1.v;
        v1X = v.x;
        v1Y = v.y;
        v1Z = v.z;
        var v1 = vertex2.v;
        v2X = v1.x;
        v2Y = v1.y;
        v2Z = v1.z;
        var v2 = vertex3.v;
        v3X = v2.x;
        v3Y = v2.y;
        v3Z = v2.z;
        vcX = center.x;
        vcY = center.y;
        vcZ = center.z;
        var v12X;
        var v12Y;
        var v12Z;
        var v13X;
        var v13Y;
        var v13Z;
        var vc1X;
        var vc1Y;
        var vc1Z;
        v12X = v2X - v1X;
        v12Y = v2Y - v1Y;
        v12Z = v2Z - v1Z;
        v13X = v3X - v1X;
        v13Y = v3Y - v1Y;
        v13Z = v3Z - v1Z;
        vc1X = v1X - vcX;
        vc1Y = v1Y - vcY;
        vc1Z = v1Z - vcZ;
        var inorX;
        var inorY;
        var inorZ;
        inorX = v12Y * v13Z - v12Z * v13Y;
        inorY = v12Z * v13X - v12X * v13Z;
        inorZ = v12X * v13Y - v12Y * v13X;
        var inverted = false;

        if (vc1X * inorX + vc1Y * inorY + vc1Z * inorZ < 0) {
          if (autoCheck) {
            var tmp = vertex2;
            vertex2 = vertex3;
            vertex3 = tmp;
            inorX *= -1;
            inorY *= -1;
            inorZ *= -1;
          } else {
            inverted = true;
          }
        }

        this._vertices[0] = vertex1;
        this._vertices[1] = vertex2;
        this._vertices[2] = vertex3;
        var v3 = this._normal;
        v3.x = inorX;
        v3.y = inorY;
        v3.z = inorZ;
        var vec1 = vertex1.v;
        var vec2 = vertex2.v;
        var vec3 = vertex3.v;
        var out = this.tmp;
        var v1X1;
        var v1Y1;
        var v1Z1;
        var v2X1;
        var v2Y1;
        var v2Z1;
        var v3X1;
        var v3Y1;
        var v3Z1;
        var v12X1;
        var v12Y1;
        var v12Z1;
        var v23X;
        var v23Y;
        var v23Z;
        var v31X;
        var v31Y;
        var v31Z;
        v1X1 = vec1.x;
        v1Y1 = vec1.y;
        v1Z1 = vec1.z;
        v2X1 = vec2.x;
        v2Y1 = vec2.y;
        v2Z1 = vec2.z;
        v3X1 = vec3.x;
        v3Y1 = vec3.y;
        v3Z1 = vec3.z;
        v12X1 = v2X1 - v1X1;
        v12Y1 = v2Y1 - v1Y1;
        v12Z1 = v2Z1 - v1Z1;
        v23X = v3X1 - v2X1;
        v23Y = v3Y1 - v2Y1;
        v23Z = v3Z1 - v2Z1;
        v31X = v1X1 - v3X1;
        v31Y = v1Y1 - v3Y1;
        v31Z = v1Z1 - v3Z1;
        var nX;
        var nY;
        var nZ;
        nX = v12Y1 * v23Z - v12Z1 * v23Y;
        nY = v12Z1 * v23X - v12X1 * v23Z;
        nZ = v12X1 * v23Y - v12Y1 * v23X;
        var n12X;
        var n12Y;
        var n12Z;
        var n23X;
        var n23Y;
        var n23Z;
        var n31X;
        var n31Y;
        var n31Z;
        n12X = v12Y1 * nZ - v12Z1 * nY;
        n12Y = v12Z1 * nX - v12X1 * nZ;
        n12Z = v12X1 * nY - v12Y1 * nX;
        n23X = v23Y * nZ - v23Z * nY;
        n23Y = v23Z * nX - v23X * nZ;
        n23Z = v23X * nY - v23Y * nX;
        n31X = v31Y * nZ - v31Z * nY;
        n31Y = v31Z * nX - v31X * nZ;
        n31Z = v31X * nY - v31Y * nX;
        var mind = -1;
        var minvX;
        var minvY;
        var minvZ;
        minvX = 0;
        minvY = 0;
        minvZ = 0;

        if (v1X1 * n12X + v1Y1 * n12Y + v1Z1 * n12Z < 0) {
          var _v1X;

          var _v1Y;

          var _v1Z;

          var _v2X;

          var _v2Y;

          var _v2Z;

          _v1X = vec1.x;
          _v1Y = vec1.y;
          _v1Z = vec1.z;
          _v2X = vec2.x;
          _v2Y = vec2.y;
          _v2Z = vec2.z;

          var _v12X;

          var _v12Y;

          var _v12Z;

          _v12X = _v2X - _v1X;
          _v12Y = _v2Y - _v1Y;
          _v12Z = _v2Z - _v1Z;
          var t = _v12X * _v1X + _v12Y * _v1Y + _v12Z * _v1Z;
          t = -t / (_v12X * _v12X + _v12Y * _v12Y + _v12Z * _v12Z);

          if (t < 0) {
            out.x = _v1X;
            out.y = _v1Y;
            out.z = _v1Z;
          } else if (t > 1) {
            out.x = _v2X;
            out.y = _v2Y;
            out.z = _v2Z;
          } else {
            var pX;
            var pY;
            var pZ;
            pX = _v1X + _v12X * t;
            pY = _v1Y + _v12Y * t;
            pZ = _v1Z + _v12Z * t;
            out.x = pX;
            out.y = pY;
            out.z = pZ;
          }

          mind = out.x * out.x + out.y * out.y + out.z * out.z;
          minvX = out.x;
          minvY = out.y;
          minvZ = out.z;
        }

        if (v2X1 * n23X + v2Y1 * n23Y + v2Z1 * n23Z < 0) {
          var _v1X2;

          var _v1Y2;

          var _v1Z2;

          var _v2X2;

          var _v2Y2;

          var _v2Z2;

          _v1X2 = vec2.x;
          _v1Y2 = vec2.y;
          _v1Z2 = vec2.z;
          _v2X2 = vec3.x;
          _v2Y2 = vec3.y;
          _v2Z2 = vec3.z;

          var _v12X2;

          var _v12Y2;

          var _v12Z2;

          _v12X2 = _v2X2 - _v1X2;
          _v12Y2 = _v2Y2 - _v1Y2;
          _v12Z2 = _v2Z2 - _v1Z2;

          var _t12 = _v12X2 * _v1X2 + _v12Y2 * _v1Y2 + _v12Z2 * _v1Z2;

          _t12 = -_t12 / (_v12X2 * _v12X2 + _v12Y2 * _v12Y2 + _v12Z2 * _v12Z2);

          if (_t12 < 0) {
            out.x = _v1X2;
            out.y = _v1Y2;
            out.z = _v1Z2;
          } else if (_t12 > 1) {
            out.x = _v2X2;
            out.y = _v2Y2;
            out.z = _v2Z2;
          } else {
            var _pX;

            var _pY;

            var _pZ;

            _pX = _v1X2 + _v12X2 * _t12;
            _pY = _v1Y2 + _v12Y2 * _t12;
            _pZ = _v1Z2 + _v12Z2 * _t12;
            out.x = _pX;
            out.y = _pY;
            out.z = _pZ;
          }

          var d = out.x * out.x + out.y * out.y + out.z * out.z;

          if (mind < 0 || d < mind) {
            mind = d;
            minvX = out.x;
            minvY = out.y;
            minvZ = out.z;
          }
        }

        if (v3X1 * n31X + v3Y1 * n31Y + v3Z1 * n31Z < 0) {
          var _v1X3;

          var _v1Y3;

          var _v1Z3;

          var _v2X3;

          var _v2Y3;

          var _v2Z3;

          _v1X3 = vec1.x;
          _v1Y3 = vec1.y;
          _v1Z3 = vec1.z;
          _v2X3 = vec3.x;
          _v2Y3 = vec3.y;
          _v2Z3 = vec3.z;

          var _v12X3;

          var _v12Y3;

          var _v12Z3;

          _v12X3 = _v2X3 - _v1X3;
          _v12Y3 = _v2Y3 - _v1Y3;
          _v12Z3 = _v2Z3 - _v1Z3;

          var _t13 = _v12X3 * _v1X3 + _v12Y3 * _v1Y3 + _v12Z3 * _v1Z3;

          _t13 = -_t13 / (_v12X3 * _v12X3 + _v12Y3 * _v12Y3 + _v12Z3 * _v12Z3);

          if (_t13 < 0) {
            out.x = _v1X3;
            out.y = _v1Y3;
            out.z = _v1Z3;
          } else if (_t13 > 1) {
            out.x = _v2X3;
            out.y = _v2Y3;
            out.z = _v2Z3;
          } else {
            var _pX2;

            var _pY2;

            var _pZ2;

            _pX2 = _v1X3 + _v12X3 * _t13;
            _pY2 = _v1Y3 + _v12Y3 * _t13;
            _pZ2 = _v1Z3 + _v12Z3 * _t13;
            out.x = _pX2;
            out.y = _pY2;
            out.z = _pZ2;
          }

          var _d = out.x * out.x + out.y * out.y + out.z * out.z;

          if (mind < 0 || _d < mind) {
            mind = _d;
            minvX = out.x;
            minvY = out.y;
            minvZ = out.z;
          }
        }

        if (mind > 0) {
          out.x = minvX;
          out.y = minvY;
          out.z = minvZ;
        } else {
          var l = nX * nX + nY * nY + nZ * nZ;

          if (l > 0) {
            l = 1 / Math.sqrt(l);
          }

          nX *= l;
          nY *= l;
          nZ *= l;
          var l2 = nX * nX + nY * nY + nZ * nZ;
          l2 = (v1X1 * nX + v1Y1 * nY + v1Z1 * nZ) / l2;
          minvX = nX * l2;
          minvY = nY * l2;
          minvZ = nZ * l2;
          out.x = minvX;
          out.y = minvY;
          out.z = minvZ;
        }

        var _this = this.tmp;
        this._distanceSq = _this.x * _this.x + _this.y * _this.y + _this.z * _this.z;
        this._adjacentTriangles[0] = null;
        this._adjacentTriangles[1] = null;
        this._adjacentTriangles[2] = null;
        this._adjacentPairIndex[0] = -1;
        this._adjacentPairIndex[1] = -1;
        this._adjacentPairIndex[2] = -1;
        return !inverted;
      }
    }, {
      key: "setAdjacentTriangle",
      value: function setAdjacentTriangle(triangle) {
        var count = 0;

        if (this._vertices[0] == triangle._vertices[this._nextIndex[0]] && this._vertices[this._nextIndex[0]] == triangle._vertices[0]) {
          this._adjacentTriangles[0] = triangle;
          this._adjacentPairIndex[0] = 0;
          triangle._adjacentTriangles[0] = this;
          triangle._adjacentPairIndex[0] = 0;
          count = 1;
        }

        if (this._vertices[0] == triangle._vertices[this._nextIndex[1]] && this._vertices[this._nextIndex[0]] == triangle._vertices[1]) {
          this._adjacentTriangles[0] = triangle;
          this._adjacentPairIndex[0] = 1;
          triangle._adjacentTriangles[1] = this;
          triangle._adjacentPairIndex[1] = 0;
          ++count;
        }

        if (this._vertices[0] == triangle._vertices[this._nextIndex[2]] && this._vertices[this._nextIndex[0]] == triangle._vertices[2]) {
          this._adjacentTriangles[0] = triangle;
          this._adjacentPairIndex[0] = 2;
          triangle._adjacentTriangles[2] = this;
          triangle._adjacentPairIndex[2] = 0;
          ++count;
        }

        if (this._vertices[1] == triangle._vertices[this._nextIndex[0]] && this._vertices[this._nextIndex[1]] == triangle._vertices[0]) {
          this._adjacentTriangles[1] = triangle;
          this._adjacentPairIndex[1] = 0;
          triangle._adjacentTriangles[0] = this;
          triangle._adjacentPairIndex[0] = 1;
          ++count;
        }

        if (this._vertices[1] == triangle._vertices[this._nextIndex[1]] && this._vertices[this._nextIndex[1]] == triangle._vertices[1]) {
          this._adjacentTriangles[1] = triangle;
          this._adjacentPairIndex[1] = 1;
          triangle._adjacentTriangles[1] = this;
          triangle._adjacentPairIndex[1] = 1;
          ++count;
        }

        if (this._vertices[1] == triangle._vertices[this._nextIndex[2]] && this._vertices[this._nextIndex[1]] == triangle._vertices[2]) {
          this._adjacentTriangles[1] = triangle;
          this._adjacentPairIndex[1] = 2;
          triangle._adjacentTriangles[2] = this;
          triangle._adjacentPairIndex[2] = 1;
          ++count;
        }

        if (this._vertices[2] == triangle._vertices[this._nextIndex[0]] && this._vertices[this._nextIndex[2]] == triangle._vertices[0]) {
          this._adjacentTriangles[2] = triangle;
          this._adjacentPairIndex[2] = 0;
          triangle._adjacentTriangles[0] = this;
          triangle._adjacentPairIndex[0] = 2;
          ++count;
        }

        if (this._vertices[2] == triangle._vertices[this._nextIndex[1]] && this._vertices[this._nextIndex[2]] == triangle._vertices[1]) {
          this._adjacentTriangles[2] = triangle;
          this._adjacentPairIndex[2] = 1;
          triangle._adjacentTriangles[1] = this;
          triangle._adjacentPairIndex[1] = 2;
          ++count;
        }

        if (this._vertices[2] == triangle._vertices[this._nextIndex[2]] && this._vertices[this._nextIndex[2]] == triangle._vertices[2]) {
          this._adjacentTriangles[2] = triangle;
          this._adjacentPairIndex[2] = 2;
          triangle._adjacentTriangles[2] = this;
          triangle._adjacentPairIndex[2] = 2;
          ++count;
        }

        if (count != 1) {
          return false;
        }

        return true;
      }
    }, {
      key: "removeAdjacentTriangles",
      value: function removeAdjacentTriangles() {
        var triangle = this._adjacentTriangles[0];

        if (triangle != null) {
          var pairIndex = this._adjacentPairIndex[0];
          triangle._adjacentTriangles[pairIndex] = null;
          triangle._adjacentPairIndex[pairIndex] = -1;
          this._adjacentTriangles[0] = null;
          this._adjacentPairIndex[0] = -1;
        }

        var triangle1 = this._adjacentTriangles[1];

        if (triangle1 != null) {
          var _pairIndex3 = this._adjacentPairIndex[1];
          triangle1._adjacentTriangles[_pairIndex3] = null;
          triangle1._adjacentPairIndex[_pairIndex3] = -1;
          this._adjacentTriangles[1] = null;
          this._adjacentPairIndex[1] = -1;
        }

        var triangle2 = this._adjacentTriangles[2];

        if (triangle2 != null) {
          var _pairIndex4 = this._adjacentPairIndex[2];
          triangle2._adjacentTriangles[_pairIndex4] = null;
          triangle2._adjacentPairIndex[_pairIndex4] = -1;
          this._adjacentTriangles[2] = null;
          this._adjacentPairIndex[2] = -1;
        }
      }
    }, {
      key: "removeReferences",
      value: function removeReferences() {
        this._next = null;
        this._prev = null;
        this._tmpDfsId = 0;
        this._tmpDfsVisible = false;
        this._distanceSq = 0;
        this._vertices[0] = null;
        this._vertices[1] = null;
        this._vertices[2] = null;
        this._adjacentTriangles[0] = null;
        this._adjacentTriangles[1] = null;
        this._adjacentTriangles[2] = null;
        this._adjacentPairIndex[0] = 0;
        this._adjacentPairIndex[1] = 0;
        this._adjacentPairIndex[2] = 0;
      }
    }, {
      key: "dump",
      value: function dump() {}
    }]);

    return oimo_collision_narrowphase_detector_gjkepa_EpaTriangle;
  }();

  oimo.collision.narrowphase.detector.gjkepa.EpaVertex = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_gjkepa_EpaVertex() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_EpaVertex);

      this.randId = Math.random() * 100000 | 0;
      this.v = new oimo.common.Vec3();
      this.w1 = new oimo.common.Vec3();
      this.w2 = new oimo.common.Vec3();
    }

    _createClass(oimo_collision_narrowphase_detector_gjkepa_EpaVertex, [{
      key: "init",
      value: function init(v, w1, w2) {
        var _this = this.v;
        _this.x = v.x;
        _this.y = v.y;
        _this.z = v.z;
        var _this1 = this.w1;
        _this1.x = w1.x;
        _this1.y = w1.y;
        _this1.z = w1.z;
        var _this2 = this.w2;
        _this2.x = w2.x;
        _this2.y = w2.y;
        _this2.z = w2.z;
        this._next = null;
        this._tmpEdgeLoopNext = null;
        this._tmpEdgeLoopOuterTriangle = null;
        return this;
      }
    }, {
      key: "removeReferences",
      value: function removeReferences() {
        this._next = null;
        this._tmpEdgeLoopNext = null;
        this._tmpEdgeLoopOuterTriangle = null;
      }
    }]);

    return oimo_collision_narrowphase_detector_gjkepa_EpaVertex;
  }();

  oimo.collision.narrowphase.detector.gjkepa.GjkCache = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_gjkepa_GjkCache() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_GjkCache);

      this.prevClosestDir = new oimo.common.Vec3();
    }

    _createClass(oimo_collision_narrowphase_detector_gjkepa_GjkCache, [{
      key: "clear",
      value: function clear() {
        this.prevClosestDir.zero();
      }
    }]);

    return oimo_collision_narrowphase_detector_gjkepa_GjkCache;
  }();

  if (!oimo.common) oimo.common = {};

  oimo.common.Vec3 = /*#__PURE__*/function () {
    function oimo_common_Vec3(x, y, z) {
      _classCallCheck(this, oimo_common_Vec3);

      if (z == null) {
        z = 0;
      }

      if (y == null) {
        y = 0;
      }

      if (x == null) {
        x = 0;
      }

      this.x = x;
      this.y = y;
      this.z = z;
      oimo.common.Vec3.numCreations++;
    }

    _createClass(oimo_common_Vec3, [{
      key: "init",
      value: function init(x, y, z) {
        this.x = x;
        this.y = y;
        this.z = z;
        return this;
      }
    }, {
      key: "zero",
      value: function zero() {
        this.x = 0;
        this.y = 0;
        this.z = 0;
        return this;
      }
    }, {
      key: "add",
      value: function add(v) {
        return new oimo.common.Vec3(this.x + v.x, this.y + v.y, this.z + v.z);
      }
    }, {
      key: "add3",
      value: function add3(vx, vy, vz) {
        return new oimo.common.Vec3(this.x + vx, this.y + vy, this.z + vz);
      }
    }, {
      key: "addScaled",
      value: function addScaled(v, s) {
        return new oimo.common.Vec3(this.x + v.x * s, this.y + v.y * s, this.z + v.z * s);
      }
    }, {
      key: "sub",
      value: function sub(v) {
        return new oimo.common.Vec3(this.x - v.x, this.y - v.y, this.z - v.z);
      }
    }, {
      key: "sub3",
      value: function sub3(vx, vy, vz) {
        return new oimo.common.Vec3(this.x - vx, this.y - vy, this.z - vz);
      }
    }, {
      key: "scale",
      value: function scale(s) {
        return new oimo.common.Vec3(this.x * s, this.y * s, this.z * s);
      }
    }, {
      key: "scale3",
      value: function scale3(sx, sy, sz) {
        return new oimo.common.Vec3(this.x * sx, this.y * sy, this.z * sz);
      }
    }, {
      key: "dot",
      value: function dot(v) {
        return this.x * v.x + this.y * v.y + this.z * v.z;
      }
    }, {
      key: "cross",
      value: function cross(v) {
        return new oimo.common.Vec3(this.y * v.z - this.z * v.y, this.z * v.x - this.x * v.z, this.x * v.y - this.y * v.x);
      }
    }, {
      key: "addEq",
      value: function addEq(v) {
        this.x += v.x;
        this.y += v.y;
        this.z += v.z;
        return this;
      }
    }, {
      key: "add3Eq",
      value: function add3Eq(vx, vy, vz) {
        this.x += vx;
        this.y += vy;
        this.z += vz;
        return this;
      }
    }, {
      key: "addScaledEq",
      value: function addScaledEq(v, s) {
        this.x += v.x * s;
        this.y += v.y * s;
        this.z += v.z * s;
        return this;
      }
    }, {
      key: "subEq",
      value: function subEq(v) {
        this.x -= v.x;
        this.y -= v.y;
        this.z -= v.z;
        return this;
      }
    }, {
      key: "sub3Eq",
      value: function sub3Eq(vx, vy, vz) {
        this.x -= vx;
        this.y -= vy;
        this.z -= vz;
        return this;
      }
    }, {
      key: "scaleEq",
      value: function scaleEq(s) {
        this.x *= s;
        this.y *= s;
        this.z *= s;
        return this;
      }
    }, {
      key: "scale3Eq",
      value: function scale3Eq(sx, sy, sz) {
        this.x *= sx;
        this.y *= sy;
        this.z *= sz;
        return this;
      }
    }, {
      key: "crossEq",
      value: function crossEq(v) {
        var y = this.z * v.x - this.x * v.z;
        var z = this.x * v.y - this.y * v.x;
        this.x = this.y * v.z - this.z * v.y;
        this.y = y;
        this.z = z;
        return this;
      }
    }, {
      key: "mulMat3",
      value: function mulMat3(m) {
        return new oimo.common.Vec3(this.x * m.e00 + this.y * m.e01 + this.z * m.e02, this.x * m.e10 + this.y * m.e11 + this.z * m.e12, this.x * m.e20 + this.y * m.e21 + this.z * m.e22);
      }
    }, {
      key: "mulMat4",
      value: function mulMat4(m) {
        return new oimo.common.Vec3(this.x * m.e00 + this.y * m.e01 + this.z * m.e02 + m.e03, this.x * m.e10 + this.y * m.e11 + this.z * m.e12 + m.e13, this.x * m.e20 + this.y * m.e21 + this.z * m.e22 + m.e23);
      }
    }, {
      key: "mulTransform",
      value: function mulTransform(tf) {
        var vX;
        var vY;
        var vZ;
        vX = this.x;
        vY = this.y;
        vZ = this.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf._rotation00 * vX + tf._rotation01 * vY + tf._rotation02 * vZ;
        __tmp__Y = tf._rotation10 * vX + tf._rotation11 * vY + tf._rotation12 * vZ;
        __tmp__Z = tf._rotation20 * vX + tf._rotation21 * vY + tf._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        vX += tf._positionX;
        vY += tf._positionY;
        vZ += tf._positionZ;
        var res = new oimo.common.Vec3();
        res.x = vX;
        res.y = vY;
        res.z = vZ;
        return res;
      }
    }, {
      key: "mulMat3Eq",
      value: function mulMat3Eq(m) {
        var y = this.x * m.e10 + this.y * m.e11 + this.z * m.e12;
        var z = this.x * m.e20 + this.y * m.e21 + this.z * m.e22;
        this.x = this.x * m.e00 + this.y * m.e01 + this.z * m.e02;
        this.y = y;
        this.z = z;
        return this;
      }
    }, {
      key: "mulMat4Eq",
      value: function mulMat4Eq(m) {
        var y = this.x * m.e10 + this.y * m.e11 + this.z * m.e12 + m.e13;
        var z = this.x * m.e20 + this.y * m.e21 + this.z * m.e22 + m.e23;
        this.x = this.x * m.e00 + this.y * m.e01 + this.z * m.e02 + m.e03;
        this.y = y;
        this.z = z;
        return this;
      }
    }, {
      key: "mulTransformEq",
      value: function mulTransformEq(tf) {
        var vX;
        var vY;
        var vZ;
        vX = this.x;
        vY = this.y;
        vZ = this.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf._rotation00 * vX + tf._rotation01 * vY + tf._rotation02 * vZ;
        __tmp__Y = tf._rotation10 * vX + tf._rotation11 * vY + tf._rotation12 * vZ;
        __tmp__Z = tf._rotation20 * vX + tf._rotation21 * vY + tf._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        vX += tf._positionX;
        vY += tf._positionY;
        vZ += tf._positionZ;
        this.x = vX;
        this.y = vY;
        this.z = vZ;
        return this;
      }
    }, {
      key: "length",
      value: function length() {
        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
      }
    }, {
      key: "lengthSq",
      value: function lengthSq() {
        return this.x * this.x + this.y * this.y + this.z * this.z;
      }
    }, {
      key: "normalized",
      value: function normalized() {
        var invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);

        if (invLen > 0) {
          invLen = 1 / invLen;
        }

        return new oimo.common.Vec3(this.x * invLen, this.y * invLen, this.z * invLen);
      }
    }, {
      key: "normalize",
      value: function normalize() {
        var invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);

        if (invLen > 0) {
          invLen = 1 / invLen;
        }

        this.x *= invLen;
        this.y *= invLen;
        this.z *= invLen;
        return this;
      }
    }, {
      key: "negate",
      value: function negate() {
        return new oimo.common.Vec3(-this.x, -this.y, -this.z);
      }
    }, {
      key: "negateEq",
      value: function negateEq() {
        this.x = -this.x;
        this.y = -this.y;
        this.z = -this.z;
        return this;
      }
    }, {
      key: "copyFrom",
      value: function copyFrom(v) {
        this.x = v.x;
        this.y = v.y;
        this.z = v.z;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        return new oimo.common.Vec3(this.x, this.y, this.z);
      }
    }, {
      key: "toString",
      value: function toString() {
        return "Vec3[" + (this.x > 0 ? (this.x * 10000000 + 0.5 | 0) / 10000000 : (this.x * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.y > 0 ? (this.y * 10000000 + 0.5 | 0) / 10000000 : (this.y * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.z > 0 ? (this.z * 10000000 + 0.5 | 0) / 10000000 : (this.z * 10000000 - 0.5 | 0) / 10000000) + "]";
      }
    }]);

    return oimo_common_Vec3;
  }();

  oimo.common.Transform = /*#__PURE__*/function () {
    function oimo_common_Transform() {
      _classCallCheck(this, oimo_common_Transform);

      this._positionX = 0;
      this._positionY = 0;
      this._positionZ = 0;
      this._rotation00 = 1;
      this._rotation01 = 0;
      this._rotation02 = 0;
      this._rotation10 = 0;
      this._rotation11 = 1;
      this._rotation12 = 0;
      this._rotation20 = 0;
      this._rotation21 = 0;
      this._rotation22 = 1;
    }

    _createClass(oimo_common_Transform, [{
      key: "identity",
      value: function identity() {
        this._positionX = 0;
        this._positionY = 0;
        this._positionZ = 0;
        this._rotation00 = 1;
        this._rotation01 = 0;
        this._rotation02 = 0;
        this._rotation10 = 0;
        this._rotation11 = 1;
        this._rotation12 = 0;
        this._rotation20 = 0;
        this._rotation21 = 0;
        this._rotation22 = 1;
        return this;
      }
    }, {
      key: "getPosition",
      value: function getPosition() {
        var position = new oimo.common.Vec3();
        position.x = this._positionX;
        position.y = this._positionY;
        position.z = this._positionZ;
        return position;
      }
    }, {
      key: "getPositionTo",
      value: function getPositionTo(position) {
        position.x = this._positionX;
        position.y = this._positionY;
        position.z = this._positionZ;
      }
    }, {
      key: "setPosition",
      value: function setPosition(position) {
        this._positionX = position.x;
        this._positionY = position.y;
        this._positionZ = position.z;
        return this;
      }
    }, {
      key: "translate",
      value: function translate(translation) {
        var diffX;
        var diffY;
        var diffZ;
        diffX = translation.x;
        diffY = translation.y;
        diffZ = translation.z;
        this._positionX += diffX;
        this._positionY += diffY;
        this._positionZ += diffZ;
      }
    }, {
      key: "getRotation",
      value: function getRotation() {
        var rotation = new oimo.common.Mat3();
        rotation.e00 = this._rotation00;
        rotation.e01 = this._rotation01;
        rotation.e02 = this._rotation02;
        rotation.e10 = this._rotation10;
        rotation.e11 = this._rotation11;
        rotation.e12 = this._rotation12;
        rotation.e20 = this._rotation20;
        rotation.e21 = this._rotation21;
        rotation.e22 = this._rotation22;
        return rotation;
      }
    }, {
      key: "getRotationTo",
      value: function getRotationTo(out) {
        out.e00 = this._rotation00;
        out.e01 = this._rotation01;
        out.e02 = this._rotation02;
        out.e10 = this._rotation10;
        out.e11 = this._rotation11;
        out.e12 = this._rotation12;
        out.e20 = this._rotation20;
        out.e21 = this._rotation21;
        out.e22 = this._rotation22;
      }
    }, {
      key: "setRotation",
      value: function setRotation(rotation) {
        this._rotation00 = rotation.e00;
        this._rotation01 = rotation.e01;
        this._rotation02 = rotation.e02;
        this._rotation10 = rotation.e10;
        this._rotation11 = rotation.e11;
        this._rotation12 = rotation.e12;
        this._rotation20 = rotation.e20;
        this._rotation21 = rotation.e21;
        this._rotation22 = rotation.e22;
        return this;
      }
    }, {
      key: "setRotationXyz",
      value: function setRotationXyz(eulerAngles) {
        var xyzX;
        var xyzY;
        var xyzZ;
        xyzX = eulerAngles.x;
        xyzY = eulerAngles.y;
        xyzZ = eulerAngles.z;
        var sx = Math.sin(xyzX);
        var sy = Math.sin(xyzY);
        var sz = Math.sin(xyzZ);
        var cx = Math.cos(xyzX);
        var cy = Math.cos(xyzY);
        var cz = Math.cos(xyzZ);
        this._rotation00 = cy * cz;
        this._rotation01 = -cy * sz;
        this._rotation02 = sy;
        this._rotation10 = cx * sz + cz * sx * sy;
        this._rotation11 = cx * cz - sx * sy * sz;
        this._rotation12 = -cy * sx;
        this._rotation20 = sx * sz - cx * cz * sy;
        this._rotation21 = cz * sx + cx * sy * sz;
        this._rotation22 = cx * cy;
      }
    }, {
      key: "rotate",
      value: function rotate(rotation) {
        var rot00;
        var rot01;
        var rot02;
        var rot10;
        var rot11;
        var rot12;
        var rot20;
        var rot21;
        var rot22;
        rot00 = rotation.e00;
        rot01 = rotation.e01;
        rot02 = rotation.e02;
        rot10 = rotation.e10;
        rot11 = rotation.e11;
        rot12 = rotation.e12;
        rot20 = rotation.e20;
        rot21 = rotation.e21;
        rot22 = rotation.e22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = rot00 * this._rotation00 + rot01 * this._rotation10 + rot02 * this._rotation20;
        __tmp__01 = rot00 * this._rotation01 + rot01 * this._rotation11 + rot02 * this._rotation21;
        __tmp__02 = rot00 * this._rotation02 + rot01 * this._rotation12 + rot02 * this._rotation22;
        __tmp__10 = rot10 * this._rotation00 + rot11 * this._rotation10 + rot12 * this._rotation20;
        __tmp__11 = rot10 * this._rotation01 + rot11 * this._rotation11 + rot12 * this._rotation21;
        __tmp__12 = rot10 * this._rotation02 + rot11 * this._rotation12 + rot12 * this._rotation22;
        __tmp__20 = rot20 * this._rotation00 + rot21 * this._rotation10 + rot22 * this._rotation20;
        __tmp__21 = rot20 * this._rotation01 + rot21 * this._rotation11 + rot22 * this._rotation21;
        __tmp__22 = rot20 * this._rotation02 + rot21 * this._rotation12 + rot22 * this._rotation22;
        this._rotation00 = __tmp__00;
        this._rotation01 = __tmp__01;
        this._rotation02 = __tmp__02;
        this._rotation10 = __tmp__10;
        this._rotation11 = __tmp__11;
        this._rotation12 = __tmp__12;
        this._rotation20 = __tmp__20;
        this._rotation21 = __tmp__21;
        this._rotation22 = __tmp__22;
      }
    }, {
      key: "rotateXyz",
      value: function rotateXyz(eulerAngles) {
        var xyzX;
        var xyzY;
        var xyzZ;
        var rot00;
        var rot01;
        var rot02;
        var rot10;
        var rot11;
        var rot12;
        var rot20;
        var rot21;
        var rot22;
        xyzX = eulerAngles.x;
        xyzY = eulerAngles.y;
        xyzZ = eulerAngles.z;
        var sx = Math.sin(xyzX);
        var sy = Math.sin(xyzY);
        var sz = Math.sin(xyzZ);
        var cx = Math.cos(xyzX);
        var cy = Math.cos(xyzY);
        var cz = Math.cos(xyzZ);
        rot00 = cy * cz;
        rot01 = -cy * sz;
        rot02 = sy;
        rot10 = cx * sz + cz * sx * sy;
        rot11 = cx * cz - sx * sy * sz;
        rot12 = -cy * sx;
        rot20 = sx * sz - cx * cz * sy;
        rot21 = cz * sx + cx * sy * sz;
        rot22 = cx * cy;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = rot00 * this._rotation00 + rot01 * this._rotation10 + rot02 * this._rotation20;
        __tmp__01 = rot00 * this._rotation01 + rot01 * this._rotation11 + rot02 * this._rotation21;
        __tmp__02 = rot00 * this._rotation02 + rot01 * this._rotation12 + rot02 * this._rotation22;
        __tmp__10 = rot10 * this._rotation00 + rot11 * this._rotation10 + rot12 * this._rotation20;
        __tmp__11 = rot10 * this._rotation01 + rot11 * this._rotation11 + rot12 * this._rotation21;
        __tmp__12 = rot10 * this._rotation02 + rot11 * this._rotation12 + rot12 * this._rotation22;
        __tmp__20 = rot20 * this._rotation00 + rot21 * this._rotation10 + rot22 * this._rotation20;
        __tmp__21 = rot20 * this._rotation01 + rot21 * this._rotation11 + rot22 * this._rotation21;
        __tmp__22 = rot20 * this._rotation02 + rot21 * this._rotation12 + rot22 * this._rotation22;
        this._rotation00 = __tmp__00;
        this._rotation01 = __tmp__01;
        this._rotation02 = __tmp__02;
        this._rotation10 = __tmp__10;
        this._rotation11 = __tmp__11;
        this._rotation12 = __tmp__12;
        this._rotation20 = __tmp__20;
        this._rotation21 = __tmp__21;
        this._rotation22 = __tmp__22;
      }
    }, {
      key: "getOrientation",
      value: function getOrientation() {
        var q = new oimo.common.Quat();
        var iqX;
        var iqY;
        var iqZ;
        var iqW;
        var e00 = this._rotation00;
        var e11 = this._rotation11;
        var e22 = this._rotation22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          iqW = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._rotation21 - this._rotation12) * s;
          iqY = (this._rotation02 - this._rotation20) * s;
          iqZ = (this._rotation10 - this._rotation01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            iqX = 0.5 * s;
            s = 0.5 / s;
            iqY = (this._rotation01 + this._rotation10) * s;
            iqZ = (this._rotation02 + this._rotation20) * s;
            iqW = (this._rotation21 - this._rotation12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            iqZ = 0.5 * s;
            s = 0.5 / s;
            iqX = (this._rotation02 + this._rotation20) * s;
            iqY = (this._rotation12 + this._rotation21) * s;
            iqW = (this._rotation10 - this._rotation01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          iqY = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._rotation01 + this._rotation10) * s;
          iqZ = (this._rotation12 + this._rotation21) * s;
          iqW = (this._rotation02 - this._rotation20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          iqZ = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._rotation02 + this._rotation20) * s;
          iqY = (this._rotation12 + this._rotation21) * s;
          iqW = (this._rotation10 - this._rotation01) * s;
        }

        q.x = iqX;
        q.y = iqY;
        q.z = iqZ;
        q.w = iqW;
        return q;
      }
    }, {
      key: "getOrientationTo",
      value: function getOrientationTo(orientation) {
        var iqX;
        var iqY;
        var iqZ;
        var iqW;
        var e00 = this._rotation00;
        var e11 = this._rotation11;
        var e22 = this._rotation22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          iqW = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._rotation21 - this._rotation12) * s;
          iqY = (this._rotation02 - this._rotation20) * s;
          iqZ = (this._rotation10 - this._rotation01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            iqX = 0.5 * s;
            s = 0.5 / s;
            iqY = (this._rotation01 + this._rotation10) * s;
            iqZ = (this._rotation02 + this._rotation20) * s;
            iqW = (this._rotation21 - this._rotation12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            iqZ = 0.5 * s;
            s = 0.5 / s;
            iqX = (this._rotation02 + this._rotation20) * s;
            iqY = (this._rotation12 + this._rotation21) * s;
            iqW = (this._rotation10 - this._rotation01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          iqY = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._rotation01 + this._rotation10) * s;
          iqZ = (this._rotation12 + this._rotation21) * s;
          iqW = (this._rotation02 - this._rotation20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          iqZ = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._rotation02 + this._rotation20) * s;
          iqY = (this._rotation12 + this._rotation21) * s;
          iqW = (this._rotation10 - this._rotation01) * s;
        }

        orientation.x = iqX;
        orientation.y = iqY;
        orientation.z = iqZ;
        orientation.w = iqW;
      }
    }, {
      key: "setOrientation",
      value: function setOrientation(quaternion) {
        var qX;
        var qY;
        var qZ;
        var qW;
        qX = quaternion.x;
        qY = quaternion.y;
        qZ = quaternion.z;
        qW = quaternion.w;
        var x = qX;
        var y = qY;
        var z = qZ;
        var w = qW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        this._rotation00 = 1 - yy - zz;
        this._rotation01 = xy - wz;
        this._rotation02 = xz + wy;
        this._rotation10 = xy + wz;
        this._rotation11 = 1 - xx - zz;
        this._rotation12 = yz - wx;
        this._rotation20 = xz - wy;
        this._rotation21 = yz + wx;
        this._rotation22 = 1 - xx - yy;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        var tf = new oimo.common.Transform();
        tf._positionX = this._positionX;
        tf._positionY = this._positionY;
        tf._positionZ = this._positionZ;
        tf._rotation00 = this._rotation00;
        tf._rotation01 = this._rotation01;
        tf._rotation02 = this._rotation02;
        tf._rotation10 = this._rotation10;
        tf._rotation11 = this._rotation11;
        tf._rotation12 = this._rotation12;
        tf._rotation20 = this._rotation20;
        tf._rotation21 = this._rotation21;
        tf._rotation22 = this._rotation22;
        return tf;
      }
    }, {
      key: "copyFrom",
      value: function copyFrom(transform) {
        this._positionX = transform._positionX;
        this._positionY = transform._positionY;
        this._positionZ = transform._positionZ;
        this._rotation00 = transform._rotation00;
        this._rotation01 = transform._rotation01;
        this._rotation02 = transform._rotation02;
        this._rotation10 = transform._rotation10;
        this._rotation11 = transform._rotation11;
        this._rotation12 = transform._rotation12;
        this._rotation20 = transform._rotation20;
        this._rotation21 = transform._rotation21;
        this._rotation22 = transform._rotation22;
        return this;
      }
    }]);

    return oimo_common_Transform;
  }();

  oimo.common.Setting = /*#__PURE__*/_createClass(function oimo_common_Setting() {
    _classCallCheck(this, oimo_common_Setting);
  });

  oimo.collision.narrowphase.detector.gjkepa.GjkEpa = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_gjkepa_GjkEpa() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_GjkEpa);

      this.s = new Array(4);
      this.w1 = new Array(4);
      this.w2 = new Array(4);
      this.baseDirs = new Array(3);
      this.baseDirs[0] = new oimo.common.Vec3(1, 0, 0);
      this.baseDirs[1] = new oimo.common.Vec3(0, 1, 0);
      this.baseDirs[2] = new oimo.common.Vec3(0, 0, 1);
      this.tl1 = new oimo.common.Vec3();
      this.tl2 = new oimo.common.Vec3();
      this.rayX = new oimo.common.Vec3();
      this.rayR = new oimo.common.Vec3();
      this.tempTransform = new oimo.common.Transform();
      this.s[0] = new oimo.common.Vec3();
      this.w1[0] = new oimo.common.Vec3();
      this.w2[0] = new oimo.common.Vec3();
      this.s[1] = new oimo.common.Vec3();
      this.w1[1] = new oimo.common.Vec3();
      this.w2[1] = new oimo.common.Vec3();
      this.s[2] = new oimo.common.Vec3();
      this.w1[2] = new oimo.common.Vec3();
      this.w2[2] = new oimo.common.Vec3();
      this.s[3] = new oimo.common.Vec3();
      this.w1[3] = new oimo.common.Vec3();
      this.w2[3] = new oimo.common.Vec3();
      this.dir = new oimo.common.Vec3();
      this.closest = new oimo.common.Vec3();
      this.closestPoint1 = new oimo.common.Vec3();
      this.closestPoint2 = new oimo.common.Vec3();
      this.polyhedron = new oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedron();
    }

    _createClass(oimo_collision_narrowphase_detector_gjkepa_GjkEpa, [{
      key: "computeClosestPointsImpl",
      value: function computeClosestPointsImpl(c1, c2, tf1, tf2, cache, useEpa) {
        this.c1 = c1;
        this.c2 = c2;
        this.tf1 = tf1;
        this.tf2 = tf2;
        var s = this.s;
        var w1 = this.w1;
        var w2 = this.w2;
        var closest = this.closest;
        var dir = this.dir;

        if (cache != null) {
          if (cache._gjkCache == null) {
            cache._gjkCache = new oimo.collision.narrowphase.detector.gjkepa.GjkCache();
          }

          this.loadCache(cache._gjkCache);
        } else {
          dir.zero();
        }

        if (dir.x * dir.x + dir.y * dir.y + dir.z * dir.z == 0) {
          var firstDirX;
          var firstDirY;
          var firstDirZ;
          firstDirX = tf2._positionX - tf1._positionX;
          firstDirY = tf2._positionY - tf1._positionY;
          firstDirZ = tf2._positionZ - tf1._positionZ;
          dir.x = firstDirX;
          dir.y = firstDirY;
          dir.z = firstDirZ;

          if (dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-6) {
            dir.init(1, 0, 0);
          }
        }

        this.simplexSize = 0;
        this.computeWitnessPoint1(false);
        this.computeWitnessPoint2(false);
        var _this = this.s[this.simplexSize];
        var v = this.w1[this.simplexSize];
        _this.x = v.x;
        _this.y = v.y;
        _this.z = v.z;
        var v1 = this.w2[this.simplexSize];
        _this.x -= v1.x;
        _this.y -= v1.y;
        _this.z -= v1.z;
        this.simplexSize = 1;
        var count = 0;

        while (count < 40) {
          var _v14 = 0;

          switch (this.simplexSize) {
            case 1:
              var _v15 = s[0];
              closest.x = _v15.x;
              closest.y = _v15.y;
              closest.z = _v15.z;
              _v14 = 1;
              break;

            case 2:
              var v1X = void 0;
              var v1Y = void 0;
              var v1Z = void 0;
              var v2X = void 0;
              var v2Y = void 0;
              var v2Z = void 0;
              var v2 = s[0];
              v1X = v2.x;
              v1Y = v2.y;
              v1Z = v2.z;
              var v3 = s[1];
              v2X = v3.x;
              v2Y = v3.y;
              v2Z = v3.z;
              var v12X = void 0;
              var v12Y = void 0;
              var v12Z = void 0;
              v12X = v2X - v1X;
              v12Y = v2Y - v1Y;
              v12Z = v2Z - v1Z;
              var t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
              t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);

              if (t < 0) {
                closest.x = v1X;
                closest.y = v1Y;
                closest.z = v1Z;
                _v14 = 1;
              } else if (t > 1) {
                closest.x = v2X;
                closest.y = v2Y;
                closest.z = v2Z;
                _v14 = 2;
              } else {
                var pX = void 0;
                var pY = void 0;
                var pZ = void 0;
                pX = v1X + v12X * t;
                pY = v1Y + v12Y * t;
                pZ = v1Z + v12Z * t;
                closest.x = pX;
                closest.y = pY;
                closest.z = pZ;
                _v14 = 3;
              }

              break;

            case 3:
              var vec1 = s[0];
              var vec2 = s[1];
              var vec3 = s[2];
              var v1X1 = void 0;
              var v1Y1 = void 0;
              var v1Z1 = void 0;
              var v2X1 = void 0;
              var v2Y1 = void 0;
              var v2Z1 = void 0;
              var v3X = void 0;
              var v3Y = void 0;
              var v3Z = void 0;
              var v12X1 = void 0;
              var v12Y1 = void 0;
              var v12Z1 = void 0;
              var v23X = void 0;
              var v23Y = void 0;
              var v23Z = void 0;
              var v31X = void 0;
              var v31Y = void 0;
              var v31Z = void 0;
              v1X1 = vec1.x;
              v1Y1 = vec1.y;
              v1Z1 = vec1.z;
              v2X1 = vec2.x;
              v2Y1 = vec2.y;
              v2Z1 = vec2.z;
              v3X = vec3.x;
              v3Y = vec3.y;
              v3Z = vec3.z;
              v12X1 = v2X1 - v1X1;
              v12Y1 = v2Y1 - v1Y1;
              v12Z1 = v2Z1 - v1Z1;
              v23X = v3X - v2X1;
              v23Y = v3Y - v2Y1;
              v23Z = v3Z - v2Z1;
              v31X = v1X1 - v3X;
              v31Y = v1Y1 - v3Y;
              v31Z = v1Z1 - v3Z;
              var nX = void 0;
              var nY = void 0;
              var nZ = void 0;
              nX = v12Y1 * v23Z - v12Z1 * v23Y;
              nY = v12Z1 * v23X - v12X1 * v23Z;
              nZ = v12X1 * v23Y - v12Y1 * v23X;
              var n12X = void 0;
              var n12Y = void 0;
              var n12Z = void 0;
              var n23X = void 0;
              var n23Y = void 0;
              var n23Z = void 0;
              var n31X = void 0;
              var n31Y = void 0;
              var n31Z = void 0;
              n12X = v12Y1 * nZ - v12Z1 * nY;
              n12Y = v12Z1 * nX - v12X1 * nZ;
              n12Z = v12X1 * nY - v12Y1 * nX;
              n23X = v23Y * nZ - v23Z * nY;
              n23Y = v23Z * nX - v23X * nZ;
              n23Z = v23X * nY - v23Y * nX;
              n31X = v31Y * nZ - v31Z * nY;
              n31Y = v31Z * nX - v31X * nZ;
              n31Z = v31X * nY - v31Y * nX;
              var mind = -1;
              var minvX = void 0;
              var minvY = void 0;
              var minvZ = void 0;
              var mini = 0;
              minvX = 0;
              minvY = 0;
              minvZ = 0;

              if (v1X1 * n12X + v1Y1 * n12Y + v1Z1 * n12Z < 0) {
                var _v1X4 = void 0;

                var _v1Y4 = void 0;

                var _v1Z4 = void 0;

                var _v2X4 = void 0;

                var _v2Y4 = void 0;

                var _v2Z4 = void 0;

                _v1X4 = vec1.x;
                _v1Y4 = vec1.y;
                _v1Z4 = vec1.z;
                _v2X4 = vec2.x;
                _v2Y4 = vec2.y;
                _v2Z4 = vec2.z;

                var _v12X4 = void 0;

                var _v12Y4 = void 0;

                var _v12Z4 = void 0;

                _v12X4 = _v2X4 - _v1X4;
                _v12Y4 = _v2Y4 - _v1Y4;
                _v12Z4 = _v2Z4 - _v1Z4;

                var _t14 = _v12X4 * _v1X4 + _v12Y4 * _v1Y4 + _v12Z4 * _v1Z4;

                _t14 = -_t14 / (_v12X4 * _v12X4 + _v12Y4 * _v12Y4 + _v12Z4 * _v12Z4);
                var b = void 0;

                if (_t14 < 0) {
                  closest.x = _v1X4;
                  closest.y = _v1Y4;
                  closest.z = _v1Z4;
                  b = 1;
                } else if (_t14 > 1) {
                  closest.x = _v2X4;
                  closest.y = _v2Y4;
                  closest.z = _v2Z4;
                  b = 2;
                } else {
                  var _pX3 = void 0;

                  var _pY3 = void 0;

                  var _pZ3 = void 0;

                  _pX3 = _v1X4 + _v12X4 * _t14;
                  _pY3 = _v1Y4 + _v12Y4 * _t14;
                  _pZ3 = _v1Z4 + _v12Z4 * _t14;
                  closest.x = _pX3;
                  closest.y = _pY3;
                  closest.z = _pZ3;
                  b = 3;
                }

                mini = b;
                mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                minvX = closest.x;
                minvY = closest.y;
                minvZ = closest.z;
              }

              if (v2X1 * n23X + v2Y1 * n23Y + v2Z1 * n23Z < 0) {
                var _v1X5 = void 0;

                var _v1Y5 = void 0;

                var _v1Z5 = void 0;

                var _v2X5 = void 0;

                var _v2Y5 = void 0;

                var _v2Z5 = void 0;

                _v1X5 = vec2.x;
                _v1Y5 = vec2.y;
                _v1Z5 = vec2.z;
                _v2X5 = vec3.x;
                _v2Y5 = vec3.y;
                _v2Z5 = vec3.z;

                var _v12X5 = void 0;

                var _v12Y5 = void 0;

                var _v12Z5 = void 0;

                _v12X5 = _v2X5 - _v1X5;
                _v12Y5 = _v2Y5 - _v1Y5;
                _v12Z5 = _v2Z5 - _v1Z5;

                var _t15 = _v12X5 * _v1X5 + _v12Y5 * _v1Y5 + _v12Z5 * _v1Z5;

                _t15 = -_t15 / (_v12X5 * _v12X5 + _v12Y5 * _v12Y5 + _v12Z5 * _v12Z5);

                var _b = void 0;

                if (_t15 < 0) {
                  closest.x = _v1X5;
                  closest.y = _v1Y5;
                  closest.z = _v1Z5;
                  _b = 1;
                } else if (_t15 > 1) {
                  closest.x = _v2X5;
                  closest.y = _v2Y5;
                  closest.z = _v2Z5;
                  _b = 2;
                } else {
                  var _pX4 = void 0;

                  var _pY4 = void 0;

                  var _pZ4 = void 0;

                  _pX4 = _v1X5 + _v12X5 * _t15;
                  _pY4 = _v1Y5 + _v12Y5 * _t15;
                  _pZ4 = _v1Z5 + _v12Z5 * _t15;
                  closest.x = _pX4;
                  closest.y = _pY4;
                  closest.z = _pZ4;
                  _b = 3;
                }

                var d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind < 0 || d < mind) {
                  mini = _b << 1;
                  mind = d;
                  minvX = closest.x;
                  minvY = closest.y;
                  minvZ = closest.z;
                }
              }

              if (v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
                var _v1X6 = void 0;

                var _v1Y6 = void 0;

                var _v1Z6 = void 0;

                var _v2X6 = void 0;

                var _v2Y6 = void 0;

                var _v2Z6 = void 0;

                _v1X6 = vec1.x;
                _v1Y6 = vec1.y;
                _v1Z6 = vec1.z;
                _v2X6 = vec3.x;
                _v2Y6 = vec3.y;
                _v2Z6 = vec3.z;

                var _v12X6 = void 0;

                var _v12Y6 = void 0;

                var _v12Z6 = void 0;

                _v12X6 = _v2X6 - _v1X6;
                _v12Y6 = _v2Y6 - _v1Y6;
                _v12Z6 = _v2Z6 - _v1Z6;

                var _t16 = _v12X6 * _v1X6 + _v12Y6 * _v1Y6 + _v12Z6 * _v1Z6;

                _t16 = -_t16 / (_v12X6 * _v12X6 + _v12Y6 * _v12Y6 + _v12Z6 * _v12Z6);

                var _b2 = void 0;

                if (_t16 < 0) {
                  closest.x = _v1X6;
                  closest.y = _v1Y6;
                  closest.z = _v1Z6;
                  _b2 = 1;
                } else if (_t16 > 1) {
                  closest.x = _v2X6;
                  closest.y = _v2Y6;
                  closest.z = _v2Z6;
                  _b2 = 2;
                } else {
                  var _pX5 = void 0;

                  var _pY5 = void 0;

                  var _pZ5 = void 0;

                  _pX5 = _v1X6 + _v12X6 * _t16;
                  _pY5 = _v1Y6 + _v12Y6 * _t16;
                  _pZ5 = _v1Z6 + _v12Z6 * _t16;
                  closest.x = _pX5;
                  closest.y = _pY5;
                  closest.z = _pZ5;
                  _b2 = 3;
                }

                var _d2 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind < 0 || _d2 < mind) {
                  mini = _b2 & 1 | (_b2 & 2) << 1;
                  mind = _d2;
                  minvX = closest.x;
                  minvY = closest.y;
                  minvZ = closest.z;
                }
              }

              if (mind > 0) {
                closest.x = minvX;
                closest.y = minvY;
                closest.z = minvZ;
                _v14 = mini;
              } else {
                var l = nX * nX + nY * nY + nZ * nZ;

                if (l > 0) {
                  l = 1 / Math.sqrt(l);
                }

                nX *= l;
                nY *= l;
                nZ *= l;
                var l2 = nX * nX + nY * nY + nZ * nZ;
                l2 = (v1X1 * nX + v1Y1 * nY + v1Z1 * nZ) / l2;
                minvX = nX * l2;
                minvY = nY * l2;
                minvZ = nZ * l2;
                closest.x = minvX;
                closest.y = minvY;
                closest.z = minvZ;
                _v14 = 7;
              }

              break;

            case 4:
              var vec11 = s[0];
              var vec21 = s[1];
              var vec31 = s[2];
              var vec4 = s[3];
              var v1X2 = void 0;
              var v1Y2 = void 0;
              var v1Z2 = void 0;
              var v2X2 = void 0;
              var v2Y2 = void 0;
              var v2Z2 = void 0;
              var v3X1 = void 0;
              var v3Y1 = void 0;
              var v3Z1 = void 0;
              var v4X = void 0;
              var v4Y = void 0;
              var v4Z = void 0;
              var v12X2 = void 0;
              var v12Y2 = void 0;
              var v12Z2 = void 0;
              var v13X = void 0;
              var v13Y = void 0;
              var v13Z = void 0;
              var v14X = void 0;
              var v14Y = void 0;
              var v14Z = void 0;
              var v23X1 = void 0;
              var v23Y1 = void 0;
              var v23Z1 = void 0;
              var v24X = void 0;
              var v24Y = void 0;
              var v24Z = void 0;
              v1X2 = vec11.x;
              v1Y2 = vec11.y;
              v1Z2 = vec11.z;
              v2X2 = vec21.x;
              v2Y2 = vec21.y;
              v2Z2 = vec21.z;
              v3X1 = vec31.x;
              v3Y1 = vec31.y;
              v3Z1 = vec31.z;
              v4X = vec4.x;
              v4Y = vec4.y;
              v4Z = vec4.z;
              v12X2 = v2X2 - v1X2;
              v12Y2 = v2Y2 - v1Y2;
              v12Z2 = v2Z2 - v1Z2;
              v13X = v3X1 - v1X2;
              v13Y = v3Y1 - v1Y2;
              v13Z = v3Z1 - v1Z2;
              v14X = v4X - v1X2;
              v14Y = v4Y - v1Y2;
              v14Z = v4Z - v1Z2;
              v23X1 = v3X1 - v2X2;
              v23Y1 = v3Y1 - v2Y2;
              v23Z1 = v3Z1 - v2Z2;
              v24X = v4X - v2X2;
              v24Y = v4Y - v2Y2;
              v24Z = v4Z - v2Z2;
              var n123X = void 0;
              var n123Y = void 0;
              var n123Z = void 0;
              var n134X = void 0;
              var n134Y = void 0;
              var n134Z = void 0;
              var n142X = void 0;
              var n142Y = void 0;
              var n142Z = void 0;
              var n243X = void 0;
              var n243Y = void 0;
              var n243Z = void 0;
              n123X = v12Y2 * v13Z - v12Z2 * v13Y;
              n123Y = v12Z2 * v13X - v12X2 * v13Z;
              n123Z = v12X2 * v13Y - v12Y2 * v13X;
              n134X = v13Y * v14Z - v13Z * v14Y;
              n134Y = v13Z * v14X - v13X * v14Z;
              n134Z = v13X * v14Y - v13Y * v14X;
              n142X = v14Y * v12Z2 - v14Z * v12Y2;
              n142Y = v14Z * v12X2 - v14X * v12Z2;
              n142Z = v14X * v12Y2 - v14Y * v12X2;
              n243X = v24Y * v23Z1 - v24Z * v23Y1;
              n243Y = v24Z * v23X1 - v24X * v23Z1;
              n243Z = v24X * v23Y1 - v24Y * v23X1;
              var sign = v12X2 * n243X + v12Y2 * n243Y + v12Z2 * n243Z > 0 ? 1 : -1;
              var mind1 = -1;
              var minvX1 = void 0;
              var minvY1 = void 0;
              var minvZ1 = void 0;
              var mini1 = 0;
              minvX1 = 0;
              minvY1 = 0;
              minvZ1 = 0;

              if ((v1X2 * n123X + v1Y2 * n123Y + v1Z2 * n123Z) * sign < 0) {
                var _v1X7 = void 0;

                var _v1Y7 = void 0;

                var _v1Z7 = void 0;

                var _v2X7 = void 0;

                var _v2Y7 = void 0;

                var _v2Z7 = void 0;

                var _v3X = void 0;

                var _v3Y = void 0;

                var _v3Z = void 0;

                var _v12X7 = void 0;

                var _v12Y7 = void 0;

                var _v12Z7 = void 0;

                var _v23X = void 0;

                var _v23Y = void 0;

                var _v23Z = void 0;

                var _v31X = void 0;

                var _v31Y = void 0;

                var _v31Z = void 0;

                _v1X7 = vec11.x;
                _v1Y7 = vec11.y;
                _v1Z7 = vec11.z;
                _v2X7 = vec21.x;
                _v2Y7 = vec21.y;
                _v2Z7 = vec21.z;
                _v3X = vec31.x;
                _v3Y = vec31.y;
                _v3Z = vec31.z;
                _v12X7 = _v2X7 - _v1X7;
                _v12Y7 = _v2Y7 - _v1Y7;
                _v12Z7 = _v2Z7 - _v1Z7;
                _v23X = _v3X - _v2X7;
                _v23Y = _v3Y - _v2Y7;
                _v23Z = _v3Z - _v2Z7;
                _v31X = _v1X7 - _v3X;
                _v31Y = _v1Y7 - _v3Y;
                _v31Z = _v1Z7 - _v3Z;

                var _nX = void 0;

                var _nY = void 0;

                var _nZ = void 0;

                _nX = _v12Y7 * _v23Z - _v12Z7 * _v23Y;
                _nY = _v12Z7 * _v23X - _v12X7 * _v23Z;
                _nZ = _v12X7 * _v23Y - _v12Y7 * _v23X;

                var _n12X = void 0;

                var _n12Y = void 0;

                var _n12Z = void 0;

                var _n23X = void 0;

                var _n23Y = void 0;

                var _n23Z = void 0;

                var _n31X = void 0;

                var _n31Y = void 0;

                var _n31Z = void 0;

                _n12X = _v12Y7 * _nZ - _v12Z7 * _nY;
                _n12Y = _v12Z7 * _nX - _v12X7 * _nZ;
                _n12Z = _v12X7 * _nY - _v12Y7 * _nX;
                _n23X = _v23Y * _nZ - _v23Z * _nY;
                _n23Y = _v23Z * _nX - _v23X * _nZ;
                _n23Z = _v23X * _nY - _v23Y * _nX;
                _n31X = _v31Y * _nZ - _v31Z * _nY;
                _n31Y = _v31Z * _nX - _v31X * _nZ;
                _n31Z = _v31X * _nY - _v31Y * _nX;

                var _mind = -1;

                var _minvX = void 0;

                var _minvY = void 0;

                var _minvZ = void 0;

                var _mini = 0;
                _minvX = 0;
                _minvY = 0;
                _minvZ = 0;

                if (_v1X7 * _n12X + _v1Y7 * _n12Y + _v1Z7 * _n12Z < 0) {
                  var _v1X8 = void 0;

                  var _v1Y8 = void 0;

                  var _v1Z8 = void 0;

                  var _v2X8 = void 0;

                  var _v2Y8 = void 0;

                  var _v2Z8 = void 0;

                  _v1X8 = vec11.x;
                  _v1Y8 = vec11.y;
                  _v1Z8 = vec11.z;
                  _v2X8 = vec21.x;
                  _v2Y8 = vec21.y;
                  _v2Z8 = vec21.z;

                  var _v12X8 = void 0;

                  var _v12Y8 = void 0;

                  var _v12Z8 = void 0;

                  _v12X8 = _v2X8 - _v1X8;
                  _v12Y8 = _v2Y8 - _v1Y8;
                  _v12Z8 = _v2Z8 - _v1Z8;

                  var _t17 = _v12X8 * _v1X8 + _v12Y8 * _v1Y8 + _v12Z8 * _v1Z8;

                  _t17 = -_t17 / (_v12X8 * _v12X8 + _v12Y8 * _v12Y8 + _v12Z8 * _v12Z8);

                  var _b4 = void 0;

                  if (_t17 < 0) {
                    closest.x = _v1X8;
                    closest.y = _v1Y8;
                    closest.z = _v1Z8;
                    _b4 = 1;
                  } else if (_t17 > 1) {
                    closest.x = _v2X8;
                    closest.y = _v2Y8;
                    closest.z = _v2Z8;
                    _b4 = 2;
                  } else {
                    var _pX6 = void 0;

                    var _pY6 = void 0;

                    var _pZ6 = void 0;

                    _pX6 = _v1X8 + _v12X8 * _t17;
                    _pY6 = _v1Y8 + _v12Y8 * _t17;
                    _pZ6 = _v1Z8 + _v12Z8 * _t17;
                    closest.x = _pX6;
                    closest.y = _pY6;
                    closest.z = _pZ6;
                    _b4 = 3;
                  }

                  _mini = _b4;
                  _mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX = closest.x;
                  _minvY = closest.y;
                  _minvZ = closest.z;
                }

                if (_v2X7 * _n23X + _v2Y7 * _n23Y + _v2Z7 * _n23Z < 0) {
                  var _v1X9 = void 0;

                  var _v1Y9 = void 0;

                  var _v1Z9 = void 0;

                  var _v2X9 = void 0;

                  var _v2Y9 = void 0;

                  var _v2Z9 = void 0;

                  _v1X9 = vec21.x;
                  _v1Y9 = vec21.y;
                  _v1Z9 = vec21.z;
                  _v2X9 = vec31.x;
                  _v2Y9 = vec31.y;
                  _v2Z9 = vec31.z;

                  var _v12X9 = void 0;

                  var _v12Y9 = void 0;

                  var _v12Z9 = void 0;

                  _v12X9 = _v2X9 - _v1X9;
                  _v12Y9 = _v2Y9 - _v1Y9;
                  _v12Z9 = _v2Z9 - _v1Z9;

                  var _t18 = _v12X9 * _v1X9 + _v12Y9 * _v1Y9 + _v12Z9 * _v1Z9;

                  _t18 = -_t18 / (_v12X9 * _v12X9 + _v12Y9 * _v12Y9 + _v12Z9 * _v12Z9);

                  var _b5 = void 0;

                  if (_t18 < 0) {
                    closest.x = _v1X9;
                    closest.y = _v1Y9;
                    closest.z = _v1Z9;
                    _b5 = 1;
                  } else if (_t18 > 1) {
                    closest.x = _v2X9;
                    closest.y = _v2Y9;
                    closest.z = _v2Z9;
                    _b5 = 2;
                  } else {
                    var _pX7 = void 0;

                    var _pY7 = void 0;

                    var _pZ7 = void 0;

                    _pX7 = _v1X9 + _v12X9 * _t18;
                    _pY7 = _v1Y9 + _v12Y9 * _t18;
                    _pZ7 = _v1Z9 + _v12Z9 * _t18;
                    closest.x = _pX7;
                    closest.y = _pY7;
                    closest.z = _pZ7;
                    _b5 = 3;
                  }

                  var _d3 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind < 0 || _d3 < _mind) {
                    _mini = _b5 << 1;
                    _mind = _d3;
                    _minvX = closest.x;
                    _minvY = closest.y;
                    _minvZ = closest.z;
                  }
                }

                if (_v3X * _n31X + _v3Y * _n31Y + _v3Z * _n31Z < 0) {
                  var _v1X10 = void 0;

                  var _v1Y10 = void 0;

                  var _v1Z10 = void 0;

                  var _v2X10 = void 0;

                  var _v2Y10 = void 0;

                  var _v2Z10 = void 0;

                  _v1X10 = vec11.x;
                  _v1Y10 = vec11.y;
                  _v1Z10 = vec11.z;
                  _v2X10 = vec31.x;
                  _v2Y10 = vec31.y;
                  _v2Z10 = vec31.z;

                  var _v12X10 = void 0;

                  var _v12Y10 = void 0;

                  var _v12Z10 = void 0;

                  _v12X10 = _v2X10 - _v1X10;
                  _v12Y10 = _v2Y10 - _v1Y10;
                  _v12Z10 = _v2Z10 - _v1Z10;

                  var _t19 = _v12X10 * _v1X10 + _v12Y10 * _v1Y10 + _v12Z10 * _v1Z10;

                  _t19 = -_t19 / (_v12X10 * _v12X10 + _v12Y10 * _v12Y10 + _v12Z10 * _v12Z10);

                  var _b6 = void 0;

                  if (_t19 < 0) {
                    closest.x = _v1X10;
                    closest.y = _v1Y10;
                    closest.z = _v1Z10;
                    _b6 = 1;
                  } else if (_t19 > 1) {
                    closest.x = _v2X10;
                    closest.y = _v2Y10;
                    closest.z = _v2Z10;
                    _b6 = 2;
                  } else {
                    var _pX8 = void 0;

                    var _pY8 = void 0;

                    var _pZ8 = void 0;

                    _pX8 = _v1X10 + _v12X10 * _t19;
                    _pY8 = _v1Y10 + _v12Y10 * _t19;
                    _pZ8 = _v1Z10 + _v12Z10 * _t19;
                    closest.x = _pX8;
                    closest.y = _pY8;
                    closest.z = _pZ8;
                    _b6 = 3;
                  }

                  var _d4 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind < 0 || _d4 < _mind) {
                    _mini = _b6 & 1 | (_b6 & 2) << 1;
                    _mind = _d4;
                    _minvX = closest.x;
                    _minvY = closest.y;
                    _minvZ = closest.z;
                  }
                }

                var _b3 = void 0;

                if (_mind > 0) {
                  closest.x = _minvX;
                  closest.y = _minvY;
                  closest.z = _minvZ;
                  _b3 = _mini;
                } else {
                  var _l10 = _nX * _nX + _nY * _nY + _nZ * _nZ;

                  if (_l10 > 0) {
                    _l10 = 1 / Math.sqrt(_l10);
                  }

                  _nX *= _l10;
                  _nY *= _l10;
                  _nZ *= _l10;

                  var _l11 = _nX * _nX + _nY * _nY + _nZ * _nZ;

                  _l11 = (_v1X7 * _nX + _v1Y7 * _nY + _v1Z7 * _nZ) / _l11;
                  _minvX = _nX * _l11;
                  _minvY = _nY * _l11;
                  _minvZ = _nZ * _l11;
                  closest.x = _minvX;
                  closest.y = _minvY;
                  closest.z = _minvZ;
                  _b3 = 7;
                }

                mini1 = _b3;
                mind1 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                minvX1 = closest.x;
                minvY1 = closest.y;
                minvZ1 = closest.z;
              }

              if ((v1X2 * n134X + v1Y2 * n134Y + v1Z2 * n134Z) * sign < 0) {
                var _v1X11 = void 0;

                var _v1Y11 = void 0;

                var _v1Z11 = void 0;

                var _v2X11 = void 0;

                var _v2Y11 = void 0;

                var _v2Z11 = void 0;

                var _v3X2 = void 0;

                var _v3Y2 = void 0;

                var _v3Z2 = void 0;

                var _v12X11 = void 0;

                var _v12Y11 = void 0;

                var _v12Z11 = void 0;

                var _v23X2 = void 0;

                var _v23Y2 = void 0;

                var _v23Z2 = void 0;

                var _v31X2 = void 0;

                var _v31Y2 = void 0;

                var _v31Z2 = void 0;

                _v1X11 = vec11.x;
                _v1Y11 = vec11.y;
                _v1Z11 = vec11.z;
                _v2X11 = vec31.x;
                _v2Y11 = vec31.y;
                _v2Z11 = vec31.z;
                _v3X2 = vec4.x;
                _v3Y2 = vec4.y;
                _v3Z2 = vec4.z;
                _v12X11 = _v2X11 - _v1X11;
                _v12Y11 = _v2Y11 - _v1Y11;
                _v12Z11 = _v2Z11 - _v1Z11;
                _v23X2 = _v3X2 - _v2X11;
                _v23Y2 = _v3Y2 - _v2Y11;
                _v23Z2 = _v3Z2 - _v2Z11;
                _v31X2 = _v1X11 - _v3X2;
                _v31Y2 = _v1Y11 - _v3Y2;
                _v31Z2 = _v1Z11 - _v3Z2;

                var _nX2 = void 0;

                var _nY2 = void 0;

                var _nZ2 = void 0;

                _nX2 = _v12Y11 * _v23Z2 - _v12Z11 * _v23Y2;
                _nY2 = _v12Z11 * _v23X2 - _v12X11 * _v23Z2;
                _nZ2 = _v12X11 * _v23Y2 - _v12Y11 * _v23X2;

                var _n12X2 = void 0;

                var _n12Y2 = void 0;

                var _n12Z2 = void 0;

                var _n23X2 = void 0;

                var _n23Y2 = void 0;

                var _n23Z2 = void 0;

                var _n31X2 = void 0;

                var _n31Y2 = void 0;

                var _n31Z2 = void 0;

                _n12X2 = _v12Y11 * _nZ2 - _v12Z11 * _nY2;
                _n12Y2 = _v12Z11 * _nX2 - _v12X11 * _nZ2;
                _n12Z2 = _v12X11 * _nY2 - _v12Y11 * _nX2;
                _n23X2 = _v23Y2 * _nZ2 - _v23Z2 * _nY2;
                _n23Y2 = _v23Z2 * _nX2 - _v23X2 * _nZ2;
                _n23Z2 = _v23X2 * _nY2 - _v23Y2 * _nX2;
                _n31X2 = _v31Y2 * _nZ2 - _v31Z2 * _nY2;
                _n31Y2 = _v31Z2 * _nX2 - _v31X2 * _nZ2;
                _n31Z2 = _v31X2 * _nY2 - _v31Y2 * _nX2;

                var _mind2 = -1;

                var _minvX2 = void 0;

                var _minvY2 = void 0;

                var _minvZ2 = void 0;

                var _mini2 = 0;
                _minvX2 = 0;
                _minvY2 = 0;
                _minvZ2 = 0;

                if (_v1X11 * _n12X2 + _v1Y11 * _n12Y2 + _v1Z11 * _n12Z2 < 0) {
                  var _v1X12 = void 0;

                  var _v1Y12 = void 0;

                  var _v1Z12 = void 0;

                  var _v2X12 = void 0;

                  var _v2Y12 = void 0;

                  var _v2Z12 = void 0;

                  _v1X12 = vec11.x;
                  _v1Y12 = vec11.y;
                  _v1Z12 = vec11.z;
                  _v2X12 = vec31.x;
                  _v2Y12 = vec31.y;
                  _v2Z12 = vec31.z;

                  var _v12X12 = void 0;

                  var _v12Y12 = void 0;

                  var _v12Z12 = void 0;

                  _v12X12 = _v2X12 - _v1X12;
                  _v12Y12 = _v2Y12 - _v1Y12;
                  _v12Z12 = _v2Z12 - _v1Z12;

                  var _t20 = _v12X12 * _v1X12 + _v12Y12 * _v1Y12 + _v12Z12 * _v1Z12;

                  _t20 = -_t20 / (_v12X12 * _v12X12 + _v12Y12 * _v12Y12 + _v12Z12 * _v12Z12);

                  var _b8 = void 0;

                  if (_t20 < 0) {
                    closest.x = _v1X12;
                    closest.y = _v1Y12;
                    closest.z = _v1Z12;
                    _b8 = 1;
                  } else if (_t20 > 1) {
                    closest.x = _v2X12;
                    closest.y = _v2Y12;
                    closest.z = _v2Z12;
                    _b8 = 2;
                  } else {
                    var _pX9 = void 0;

                    var _pY9 = void 0;

                    var _pZ9 = void 0;

                    _pX9 = _v1X12 + _v12X12 * _t20;
                    _pY9 = _v1Y12 + _v12Y12 * _t20;
                    _pZ9 = _v1Z12 + _v12Z12 * _t20;
                    closest.x = _pX9;
                    closest.y = _pY9;
                    closest.z = _pZ9;
                    _b8 = 3;
                  }

                  _mini2 = _b8;
                  _mind2 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX2 = closest.x;
                  _minvY2 = closest.y;
                  _minvZ2 = closest.z;
                }

                if (_v2X11 * _n23X2 + _v2Y11 * _n23Y2 + _v2Z11 * _n23Z2 < 0) {
                  var _v1X13 = void 0;

                  var _v1Y13 = void 0;

                  var _v1Z13 = void 0;

                  var _v2X13 = void 0;

                  var _v2Y13 = void 0;

                  var _v2Z13 = void 0;

                  _v1X13 = vec31.x;
                  _v1Y13 = vec31.y;
                  _v1Z13 = vec31.z;
                  _v2X13 = vec4.x;
                  _v2Y13 = vec4.y;
                  _v2Z13 = vec4.z;

                  var _v12X13 = void 0;

                  var _v12Y13 = void 0;

                  var _v12Z13 = void 0;

                  _v12X13 = _v2X13 - _v1X13;
                  _v12Y13 = _v2Y13 - _v1Y13;
                  _v12Z13 = _v2Z13 - _v1Z13;

                  var _t21 = _v12X13 * _v1X13 + _v12Y13 * _v1Y13 + _v12Z13 * _v1Z13;

                  _t21 = -_t21 / (_v12X13 * _v12X13 + _v12Y13 * _v12Y13 + _v12Z13 * _v12Z13);

                  var _b9 = void 0;

                  if (_t21 < 0) {
                    closest.x = _v1X13;
                    closest.y = _v1Y13;
                    closest.z = _v1Z13;
                    _b9 = 1;
                  } else if (_t21 > 1) {
                    closest.x = _v2X13;
                    closest.y = _v2Y13;
                    closest.z = _v2Z13;
                    _b9 = 2;
                  } else {
                    var _pX10 = void 0;

                    var _pY10 = void 0;

                    var _pZ10 = void 0;

                    _pX10 = _v1X13 + _v12X13 * _t21;
                    _pY10 = _v1Y13 + _v12Y13 * _t21;
                    _pZ10 = _v1Z13 + _v12Z13 * _t21;
                    closest.x = _pX10;
                    closest.y = _pY10;
                    closest.z = _pZ10;
                    _b9 = 3;
                  }

                  var _d6 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind2 < 0 || _d6 < _mind2) {
                    _mini2 = _b9 << 1;
                    _mind2 = _d6;
                    _minvX2 = closest.x;
                    _minvY2 = closest.y;
                    _minvZ2 = closest.z;
                  }
                }

                if (_v3X2 * _n31X2 + _v3Y2 * _n31Y2 + _v3Z2 * _n31Z2 < 0) {
                  var _v1X14 = void 0;

                  var _v1Y14 = void 0;

                  var _v1Z14 = void 0;

                  var _v2X14 = void 0;

                  var _v2Y14 = void 0;

                  var _v2Z14 = void 0;

                  _v1X14 = vec11.x;
                  _v1Y14 = vec11.y;
                  _v1Z14 = vec11.z;
                  _v2X14 = vec4.x;
                  _v2Y14 = vec4.y;
                  _v2Z14 = vec4.z;

                  var _v12X14 = void 0;

                  var _v12Y14 = void 0;

                  var _v12Z14 = void 0;

                  _v12X14 = _v2X14 - _v1X14;
                  _v12Y14 = _v2Y14 - _v1Y14;
                  _v12Z14 = _v2Z14 - _v1Z14;

                  var _t22 = _v12X14 * _v1X14 + _v12Y14 * _v1Y14 + _v12Z14 * _v1Z14;

                  _t22 = -_t22 / (_v12X14 * _v12X14 + _v12Y14 * _v12Y14 + _v12Z14 * _v12Z14);

                  var _b10 = void 0;

                  if (_t22 < 0) {
                    closest.x = _v1X14;
                    closest.y = _v1Y14;
                    closest.z = _v1Z14;
                    _b10 = 1;
                  } else if (_t22 > 1) {
                    closest.x = _v2X14;
                    closest.y = _v2Y14;
                    closest.z = _v2Z14;
                    _b10 = 2;
                  } else {
                    var _pX11 = void 0;

                    var _pY11 = void 0;

                    var _pZ11 = void 0;

                    _pX11 = _v1X14 + _v12X14 * _t22;
                    _pY11 = _v1Y14 + _v12Y14 * _t22;
                    _pZ11 = _v1Z14 + _v12Z14 * _t22;
                    closest.x = _pX11;
                    closest.y = _pY11;
                    closest.z = _pZ11;
                    _b10 = 3;
                  }

                  var _d7 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind2 < 0 || _d7 < _mind2) {
                    _mini2 = _b10 & 1 | (_b10 & 2) << 1;
                    _mind2 = _d7;
                    _minvX2 = closest.x;
                    _minvY2 = closest.y;
                    _minvZ2 = closest.z;
                  }
                }

                var _b7 = void 0;

                if (_mind2 > 0) {
                  closest.x = _minvX2;
                  closest.y = _minvY2;
                  closest.z = _minvZ2;
                  _b7 = _mini2;
                } else {
                  var _l12 = _nX2 * _nX2 + _nY2 * _nY2 + _nZ2 * _nZ2;

                  if (_l12 > 0) {
                    _l12 = 1 / Math.sqrt(_l12);
                  }

                  _nX2 *= _l12;
                  _nY2 *= _l12;
                  _nZ2 *= _l12;

                  var _l13 = _nX2 * _nX2 + _nY2 * _nY2 + _nZ2 * _nZ2;

                  _l13 = (_v1X11 * _nX2 + _v1Y11 * _nY2 + _v1Z11 * _nZ2) / _l13;
                  _minvX2 = _nX2 * _l13;
                  _minvY2 = _nY2 * _l13;
                  _minvZ2 = _nZ2 * _l13;
                  closest.x = _minvX2;
                  closest.y = _minvY2;
                  closest.z = _minvZ2;
                  _b7 = 7;
                }

                var _d5 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind1 < 0 || _d5 < mind1) {
                  mini1 = _b7 & 1 | (_b7 & 6) << 1;
                  mind1 = _d5;
                  minvX1 = closest.x;
                  minvY1 = closest.y;
                  minvZ1 = closest.z;
                }
              }

              if ((v1X2 * n142X + v1Y2 * n142Y + v1Z2 * n142Z) * sign < 0) {
                var _v1X15 = void 0;

                var _v1Y15 = void 0;

                var _v1Z15 = void 0;

                var _v2X15 = void 0;

                var _v2Y15 = void 0;

                var _v2Z15 = void 0;

                var _v3X3 = void 0;

                var _v3Y3 = void 0;

                var _v3Z3 = void 0;

                var _v12X15 = void 0;

                var _v12Y15 = void 0;

                var _v12Z15 = void 0;

                var _v23X3 = void 0;

                var _v23Y3 = void 0;

                var _v23Z3 = void 0;

                var _v31X3 = void 0;

                var _v31Y3 = void 0;

                var _v31Z3 = void 0;

                _v1X15 = vec11.x;
                _v1Y15 = vec11.y;
                _v1Z15 = vec11.z;
                _v2X15 = vec21.x;
                _v2Y15 = vec21.y;
                _v2Z15 = vec21.z;
                _v3X3 = vec4.x;
                _v3Y3 = vec4.y;
                _v3Z3 = vec4.z;
                _v12X15 = _v2X15 - _v1X15;
                _v12Y15 = _v2Y15 - _v1Y15;
                _v12Z15 = _v2Z15 - _v1Z15;
                _v23X3 = _v3X3 - _v2X15;
                _v23Y3 = _v3Y3 - _v2Y15;
                _v23Z3 = _v3Z3 - _v2Z15;
                _v31X3 = _v1X15 - _v3X3;
                _v31Y3 = _v1Y15 - _v3Y3;
                _v31Z3 = _v1Z15 - _v3Z3;

                var _nX3 = void 0;

                var _nY3 = void 0;

                var _nZ3 = void 0;

                _nX3 = _v12Y15 * _v23Z3 - _v12Z15 * _v23Y3;
                _nY3 = _v12Z15 * _v23X3 - _v12X15 * _v23Z3;
                _nZ3 = _v12X15 * _v23Y3 - _v12Y15 * _v23X3;

                var _n12X3 = void 0;

                var _n12Y3 = void 0;

                var _n12Z3 = void 0;

                var _n23X3 = void 0;

                var _n23Y3 = void 0;

                var _n23Z3 = void 0;

                var _n31X3 = void 0;

                var _n31Y3 = void 0;

                var _n31Z3 = void 0;

                _n12X3 = _v12Y15 * _nZ3 - _v12Z15 * _nY3;
                _n12Y3 = _v12Z15 * _nX3 - _v12X15 * _nZ3;
                _n12Z3 = _v12X15 * _nY3 - _v12Y15 * _nX3;
                _n23X3 = _v23Y3 * _nZ3 - _v23Z3 * _nY3;
                _n23Y3 = _v23Z3 * _nX3 - _v23X3 * _nZ3;
                _n23Z3 = _v23X3 * _nY3 - _v23Y3 * _nX3;
                _n31X3 = _v31Y3 * _nZ3 - _v31Z3 * _nY3;
                _n31Y3 = _v31Z3 * _nX3 - _v31X3 * _nZ3;
                _n31Z3 = _v31X3 * _nY3 - _v31Y3 * _nX3;

                var _mind3 = -1;

                var _minvX3 = void 0;

                var _minvY3 = void 0;

                var _minvZ3 = void 0;

                var _mini3 = 0;
                _minvX3 = 0;
                _minvY3 = 0;
                _minvZ3 = 0;

                if (_v1X15 * _n12X3 + _v1Y15 * _n12Y3 + _v1Z15 * _n12Z3 < 0) {
                  var _v1X16 = void 0;

                  var _v1Y16 = void 0;

                  var _v1Z16 = void 0;

                  var _v2X16 = void 0;

                  var _v2Y16 = void 0;

                  var _v2Z16 = void 0;

                  _v1X16 = vec11.x;
                  _v1Y16 = vec11.y;
                  _v1Z16 = vec11.z;
                  _v2X16 = vec21.x;
                  _v2Y16 = vec21.y;
                  _v2Z16 = vec21.z;

                  var _v12X16 = void 0;

                  var _v12Y16 = void 0;

                  var _v12Z16 = void 0;

                  _v12X16 = _v2X16 - _v1X16;
                  _v12Y16 = _v2Y16 - _v1Y16;
                  _v12Z16 = _v2Z16 - _v1Z16;

                  var _t23 = _v12X16 * _v1X16 + _v12Y16 * _v1Y16 + _v12Z16 * _v1Z16;

                  _t23 = -_t23 / (_v12X16 * _v12X16 + _v12Y16 * _v12Y16 + _v12Z16 * _v12Z16);

                  var _b12 = void 0;

                  if (_t23 < 0) {
                    closest.x = _v1X16;
                    closest.y = _v1Y16;
                    closest.z = _v1Z16;
                    _b12 = 1;
                  } else if (_t23 > 1) {
                    closest.x = _v2X16;
                    closest.y = _v2Y16;
                    closest.z = _v2Z16;
                    _b12 = 2;
                  } else {
                    var _pX12 = void 0;

                    var _pY12 = void 0;

                    var _pZ12 = void 0;

                    _pX12 = _v1X16 + _v12X16 * _t23;
                    _pY12 = _v1Y16 + _v12Y16 * _t23;
                    _pZ12 = _v1Z16 + _v12Z16 * _t23;
                    closest.x = _pX12;
                    closest.y = _pY12;
                    closest.z = _pZ12;
                    _b12 = 3;
                  }

                  _mini3 = _b12;
                  _mind3 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX3 = closest.x;
                  _minvY3 = closest.y;
                  _minvZ3 = closest.z;
                }

                if (_v2X15 * _n23X3 + _v2Y15 * _n23Y3 + _v2Z15 * _n23Z3 < 0) {
                  var _v1X17 = void 0;

                  var _v1Y17 = void 0;

                  var _v1Z17 = void 0;

                  var _v2X17 = void 0;

                  var _v2Y17 = void 0;

                  var _v2Z17 = void 0;

                  _v1X17 = vec21.x;
                  _v1Y17 = vec21.y;
                  _v1Z17 = vec21.z;
                  _v2X17 = vec4.x;
                  _v2Y17 = vec4.y;
                  _v2Z17 = vec4.z;

                  var _v12X17 = void 0;

                  var _v12Y17 = void 0;

                  var _v12Z17 = void 0;

                  _v12X17 = _v2X17 - _v1X17;
                  _v12Y17 = _v2Y17 - _v1Y17;
                  _v12Z17 = _v2Z17 - _v1Z17;

                  var _t24 = _v12X17 * _v1X17 + _v12Y17 * _v1Y17 + _v12Z17 * _v1Z17;

                  _t24 = -_t24 / (_v12X17 * _v12X17 + _v12Y17 * _v12Y17 + _v12Z17 * _v12Z17);

                  var _b13 = void 0;

                  if (_t24 < 0) {
                    closest.x = _v1X17;
                    closest.y = _v1Y17;
                    closest.z = _v1Z17;
                    _b13 = 1;
                  } else if (_t24 > 1) {
                    closest.x = _v2X17;
                    closest.y = _v2Y17;
                    closest.z = _v2Z17;
                    _b13 = 2;
                  } else {
                    var _pX13 = void 0;

                    var _pY13 = void 0;

                    var _pZ13 = void 0;

                    _pX13 = _v1X17 + _v12X17 * _t24;
                    _pY13 = _v1Y17 + _v12Y17 * _t24;
                    _pZ13 = _v1Z17 + _v12Z17 * _t24;
                    closest.x = _pX13;
                    closest.y = _pY13;
                    closest.z = _pZ13;
                    _b13 = 3;
                  }

                  var _d9 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind3 < 0 || _d9 < _mind3) {
                    _mini3 = _b13 << 1;
                    _mind3 = _d9;
                    _minvX3 = closest.x;
                    _minvY3 = closest.y;
                    _minvZ3 = closest.z;
                  }
                }

                if (_v3X3 * _n31X3 + _v3Y3 * _n31Y3 + _v3Z3 * _n31Z3 < 0) {
                  var _v1X18 = void 0;

                  var _v1Y18 = void 0;

                  var _v1Z18 = void 0;

                  var _v2X18 = void 0;

                  var _v2Y18 = void 0;

                  var _v2Z18 = void 0;

                  _v1X18 = vec11.x;
                  _v1Y18 = vec11.y;
                  _v1Z18 = vec11.z;
                  _v2X18 = vec4.x;
                  _v2Y18 = vec4.y;
                  _v2Z18 = vec4.z;

                  var _v12X18 = void 0;

                  var _v12Y18 = void 0;

                  var _v12Z18 = void 0;

                  _v12X18 = _v2X18 - _v1X18;
                  _v12Y18 = _v2Y18 - _v1Y18;
                  _v12Z18 = _v2Z18 - _v1Z18;

                  var _t25 = _v12X18 * _v1X18 + _v12Y18 * _v1Y18 + _v12Z18 * _v1Z18;

                  _t25 = -_t25 / (_v12X18 * _v12X18 + _v12Y18 * _v12Y18 + _v12Z18 * _v12Z18);

                  var _b14 = void 0;

                  if (_t25 < 0) {
                    closest.x = _v1X18;
                    closest.y = _v1Y18;
                    closest.z = _v1Z18;
                    _b14 = 1;
                  } else if (_t25 > 1) {
                    closest.x = _v2X18;
                    closest.y = _v2Y18;
                    closest.z = _v2Z18;
                    _b14 = 2;
                  } else {
                    var _pX14 = void 0;

                    var _pY14 = void 0;

                    var _pZ14 = void 0;

                    _pX14 = _v1X18 + _v12X18 * _t25;
                    _pY14 = _v1Y18 + _v12Y18 * _t25;
                    _pZ14 = _v1Z18 + _v12Z18 * _t25;
                    closest.x = _pX14;
                    closest.y = _pY14;
                    closest.z = _pZ14;
                    _b14 = 3;
                  }

                  var _d10 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind3 < 0 || _d10 < _mind3) {
                    _mini3 = _b14 & 1 | (_b14 & 2) << 1;
                    _mind3 = _d10;
                    _minvX3 = closest.x;
                    _minvY3 = closest.y;
                    _minvZ3 = closest.z;
                  }
                }

                var _b11 = void 0;

                if (_mind3 > 0) {
                  closest.x = _minvX3;
                  closest.y = _minvY3;
                  closest.z = _minvZ3;
                  _b11 = _mini3;
                } else {
                  var _l14 = _nX3 * _nX3 + _nY3 * _nY3 + _nZ3 * _nZ3;

                  if (_l14 > 0) {
                    _l14 = 1 / Math.sqrt(_l14);
                  }

                  _nX3 *= _l14;
                  _nY3 *= _l14;
                  _nZ3 *= _l14;

                  var _l15 = _nX3 * _nX3 + _nY3 * _nY3 + _nZ3 * _nZ3;

                  _l15 = (_v1X15 * _nX3 + _v1Y15 * _nY3 + _v1Z15 * _nZ3) / _l15;
                  _minvX3 = _nX3 * _l15;
                  _minvY3 = _nY3 * _l15;
                  _minvZ3 = _nZ3 * _l15;
                  closest.x = _minvX3;
                  closest.y = _minvY3;
                  closest.z = _minvZ3;
                  _b11 = 7;
                }

                var _d8 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind1 < 0 || _d8 < mind1) {
                  mini1 = _b11 & 3 | (_b11 & 4) << 1;
                  mind1 = _d8;
                  minvX1 = closest.x;
                  minvY1 = closest.y;
                  minvZ1 = closest.z;
                }
              }

              if ((v2X2 * n243X + v2Y2 * n243Y + v2Z2 * n243Z) * sign < 0) {
                var _v1X19 = void 0;

                var _v1Y19 = void 0;

                var _v1Z19 = void 0;

                var _v2X19 = void 0;

                var _v2Y19 = void 0;

                var _v2Z19 = void 0;

                var _v3X4 = void 0;

                var _v3Y4 = void 0;

                var _v3Z4 = void 0;

                var _v12X19 = void 0;

                var _v12Y19 = void 0;

                var _v12Z19 = void 0;

                var _v23X4 = void 0;

                var _v23Y4 = void 0;

                var _v23Z4 = void 0;

                var _v31X4 = void 0;

                var _v31Y4 = void 0;

                var _v31Z4 = void 0;

                _v1X19 = vec21.x;
                _v1Y19 = vec21.y;
                _v1Z19 = vec21.z;
                _v2X19 = vec31.x;
                _v2Y19 = vec31.y;
                _v2Z19 = vec31.z;
                _v3X4 = vec4.x;
                _v3Y4 = vec4.y;
                _v3Z4 = vec4.z;
                _v12X19 = _v2X19 - _v1X19;
                _v12Y19 = _v2Y19 - _v1Y19;
                _v12Z19 = _v2Z19 - _v1Z19;
                _v23X4 = _v3X4 - _v2X19;
                _v23Y4 = _v3Y4 - _v2Y19;
                _v23Z4 = _v3Z4 - _v2Z19;
                _v31X4 = _v1X19 - _v3X4;
                _v31Y4 = _v1Y19 - _v3Y4;
                _v31Z4 = _v1Z19 - _v3Z4;

                var _nX4 = void 0;

                var _nY4 = void 0;

                var _nZ4 = void 0;

                _nX4 = _v12Y19 * _v23Z4 - _v12Z19 * _v23Y4;
                _nY4 = _v12Z19 * _v23X4 - _v12X19 * _v23Z4;
                _nZ4 = _v12X19 * _v23Y4 - _v12Y19 * _v23X4;

                var _n12X4 = void 0;

                var _n12Y4 = void 0;

                var _n12Z4 = void 0;

                var _n23X4 = void 0;

                var _n23Y4 = void 0;

                var _n23Z4 = void 0;

                var _n31X4 = void 0;

                var _n31Y4 = void 0;

                var _n31Z4 = void 0;

                _n12X4 = _v12Y19 * _nZ4 - _v12Z19 * _nY4;
                _n12Y4 = _v12Z19 * _nX4 - _v12X19 * _nZ4;
                _n12Z4 = _v12X19 * _nY4 - _v12Y19 * _nX4;
                _n23X4 = _v23Y4 * _nZ4 - _v23Z4 * _nY4;
                _n23Y4 = _v23Z4 * _nX4 - _v23X4 * _nZ4;
                _n23Z4 = _v23X4 * _nY4 - _v23Y4 * _nX4;
                _n31X4 = _v31Y4 * _nZ4 - _v31Z4 * _nY4;
                _n31Y4 = _v31Z4 * _nX4 - _v31X4 * _nZ4;
                _n31Z4 = _v31X4 * _nY4 - _v31Y4 * _nX4;

                var _mind4 = -1;

                var _minvX4 = void 0;

                var _minvY4 = void 0;

                var _minvZ4 = void 0;

                var _mini4 = 0;
                _minvX4 = 0;
                _minvY4 = 0;
                _minvZ4 = 0;

                if (_v1X19 * _n12X4 + _v1Y19 * _n12Y4 + _v1Z19 * _n12Z4 < 0) {
                  var _v1X20 = void 0;

                  var _v1Y20 = void 0;

                  var _v1Z20 = void 0;

                  var _v2X20 = void 0;

                  var _v2Y20 = void 0;

                  var _v2Z20 = void 0;

                  _v1X20 = vec21.x;
                  _v1Y20 = vec21.y;
                  _v1Z20 = vec21.z;
                  _v2X20 = vec31.x;
                  _v2Y20 = vec31.y;
                  _v2Z20 = vec31.z;

                  var _v12X20 = void 0;

                  var _v12Y20 = void 0;

                  var _v12Z20 = void 0;

                  _v12X20 = _v2X20 - _v1X20;
                  _v12Y20 = _v2Y20 - _v1Y20;
                  _v12Z20 = _v2Z20 - _v1Z20;

                  var _t26 = _v12X20 * _v1X20 + _v12Y20 * _v1Y20 + _v12Z20 * _v1Z20;

                  _t26 = -_t26 / (_v12X20 * _v12X20 + _v12Y20 * _v12Y20 + _v12Z20 * _v12Z20);

                  var _b16 = void 0;

                  if (_t26 < 0) {
                    closest.x = _v1X20;
                    closest.y = _v1Y20;
                    closest.z = _v1Z20;
                    _b16 = 1;
                  } else if (_t26 > 1) {
                    closest.x = _v2X20;
                    closest.y = _v2Y20;
                    closest.z = _v2Z20;
                    _b16 = 2;
                  } else {
                    var _pX15 = void 0;

                    var _pY15 = void 0;

                    var _pZ15 = void 0;

                    _pX15 = _v1X20 + _v12X20 * _t26;
                    _pY15 = _v1Y20 + _v12Y20 * _t26;
                    _pZ15 = _v1Z20 + _v12Z20 * _t26;
                    closest.x = _pX15;
                    closest.y = _pY15;
                    closest.z = _pZ15;
                    _b16 = 3;
                  }

                  _mini4 = _b16;
                  _mind4 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX4 = closest.x;
                  _minvY4 = closest.y;
                  _minvZ4 = closest.z;
                }

                if (_v2X19 * _n23X4 + _v2Y19 * _n23Y4 + _v2Z19 * _n23Z4 < 0) {
                  var _v1X21 = void 0;

                  var _v1Y21 = void 0;

                  var _v1Z21 = void 0;

                  var _v2X21 = void 0;

                  var _v2Y21 = void 0;

                  var _v2Z21 = void 0;

                  _v1X21 = vec31.x;
                  _v1Y21 = vec31.y;
                  _v1Z21 = vec31.z;
                  _v2X21 = vec4.x;
                  _v2Y21 = vec4.y;
                  _v2Z21 = vec4.z;

                  var _v12X21 = void 0;

                  var _v12Y21 = void 0;

                  var _v12Z21 = void 0;

                  _v12X21 = _v2X21 - _v1X21;
                  _v12Y21 = _v2Y21 - _v1Y21;
                  _v12Z21 = _v2Z21 - _v1Z21;

                  var _t27 = _v12X21 * _v1X21 + _v12Y21 * _v1Y21 + _v12Z21 * _v1Z21;

                  _t27 = -_t27 / (_v12X21 * _v12X21 + _v12Y21 * _v12Y21 + _v12Z21 * _v12Z21);

                  var _b17 = void 0;

                  if (_t27 < 0) {
                    closest.x = _v1X21;
                    closest.y = _v1Y21;
                    closest.z = _v1Z21;
                    _b17 = 1;
                  } else if (_t27 > 1) {
                    closest.x = _v2X21;
                    closest.y = _v2Y21;
                    closest.z = _v2Z21;
                    _b17 = 2;
                  } else {
                    var _pX16 = void 0;

                    var _pY16 = void 0;

                    var _pZ16 = void 0;

                    _pX16 = _v1X21 + _v12X21 * _t27;
                    _pY16 = _v1Y21 + _v12Y21 * _t27;
                    _pZ16 = _v1Z21 + _v12Z21 * _t27;
                    closest.x = _pX16;
                    closest.y = _pY16;
                    closest.z = _pZ16;
                    _b17 = 3;
                  }

                  var _d12 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind4 < 0 || _d12 < _mind4) {
                    _mini4 = _b17 << 1;
                    _mind4 = _d12;
                    _minvX4 = closest.x;
                    _minvY4 = closest.y;
                    _minvZ4 = closest.z;
                  }
                }

                if (_v3X4 * _n31X4 + _v3Y4 * _n31Y4 + _v3Z4 * _n31Z4 < 0) {
                  var _v1X22 = void 0;

                  var _v1Y22 = void 0;

                  var _v1Z22 = void 0;

                  var _v2X22 = void 0;

                  var _v2Y22 = void 0;

                  var _v2Z22 = void 0;

                  _v1X22 = vec21.x;
                  _v1Y22 = vec21.y;
                  _v1Z22 = vec21.z;
                  _v2X22 = vec4.x;
                  _v2Y22 = vec4.y;
                  _v2Z22 = vec4.z;

                  var _v12X22 = void 0;

                  var _v12Y22 = void 0;

                  var _v12Z22 = void 0;

                  _v12X22 = _v2X22 - _v1X22;
                  _v12Y22 = _v2Y22 - _v1Y22;
                  _v12Z22 = _v2Z22 - _v1Z22;

                  var _t28 = _v12X22 * _v1X22 + _v12Y22 * _v1Y22 + _v12Z22 * _v1Z22;

                  _t28 = -_t28 / (_v12X22 * _v12X22 + _v12Y22 * _v12Y22 + _v12Z22 * _v12Z22);

                  var _b18 = void 0;

                  if (_t28 < 0) {
                    closest.x = _v1X22;
                    closest.y = _v1Y22;
                    closest.z = _v1Z22;
                    _b18 = 1;
                  } else if (_t28 > 1) {
                    closest.x = _v2X22;
                    closest.y = _v2Y22;
                    closest.z = _v2Z22;
                    _b18 = 2;
                  } else {
                    var _pX17 = void 0;

                    var _pY17 = void 0;

                    var _pZ17 = void 0;

                    _pX17 = _v1X22 + _v12X22 * _t28;
                    _pY17 = _v1Y22 + _v12Y22 * _t28;
                    _pZ17 = _v1Z22 + _v12Z22 * _t28;
                    closest.x = _pX17;
                    closest.y = _pY17;
                    closest.z = _pZ17;
                    _b18 = 3;
                  }

                  var _d13 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind4 < 0 || _d13 < _mind4) {
                    _mini4 = _b18 & 1 | (_b18 & 2) << 1;
                    _mind4 = _d13;
                    _minvX4 = closest.x;
                    _minvY4 = closest.y;
                    _minvZ4 = closest.z;
                  }
                }

                var _b15 = void 0;

                if (_mind4 > 0) {
                  closest.x = _minvX4;
                  closest.y = _minvY4;
                  closest.z = _minvZ4;
                  _b15 = _mini4;
                } else {
                  var _l16 = _nX4 * _nX4 + _nY4 * _nY4 + _nZ4 * _nZ4;

                  if (_l16 > 0) {
                    _l16 = 1 / Math.sqrt(_l16);
                  }

                  _nX4 *= _l16;
                  _nY4 *= _l16;
                  _nZ4 *= _l16;

                  var _l17 = _nX4 * _nX4 + _nY4 * _nY4 + _nZ4 * _nZ4;

                  _l17 = (_v1X19 * _nX4 + _v1Y19 * _nY4 + _v1Z19 * _nZ4) / _l17;
                  _minvX4 = _nX4 * _l17;
                  _minvY4 = _nY4 * _l17;
                  _minvZ4 = _nZ4 * _l17;
                  closest.x = _minvX4;
                  closest.y = _minvY4;
                  closest.z = _minvZ4;
                  _b15 = 7;
                }

                var _d11 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind1 < 0 || _d11 < mind1) {
                  mini1 = _b15 << 1;
                  mind1 = _d11;
                  minvX1 = closest.x;
                  minvY1 = closest.y;
                  minvZ1 = closest.z;
                }
              }

              if (mind1 > 0) {
                closest.x = minvX1;
                closest.y = minvY1;
                closest.z = minvZ1;
                _v14 = mini1;
              } else {
                closest.zero();
                _v14 = 15;
              }

              break;
          }

          if (closest.x * closest.x + closest.y * closest.y + closest.z * closest.z < 1e-008) {
            if (!useEpa) {
              this.distance = 0;
              return 0;
            }

            switch (this.simplexSize) {
              case 1:
                this.pointToTetrahedron();
                break;

              case 2:
                this.lineToTetrahedron();
                break;

              case 3:
                this.triangleToTetrahedron();
                break;
            }

            if (this.simplexSize == 4) {
              var epaState = this.computeDepth(c1, c2, tf1, tf2, s, w1, w2);

              if (epaState != 0) {
                this.distance = 0;
                return epaState;
              }

              this.distance = -this.depth;
              return 0;
            }

            this.distance = 0;
            return 1;
          }

          this.shrinkSimplex(_v14);
          dir.x = closest.x;
          dir.y = closest.y;
          dir.z = closest.z;
          dir.x = -dir.x;
          dir.y = -dir.y;
          dir.z = -dir.z;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this71 = this.s[this.simplexSize];
          var v4 = this.w1[this.simplexSize];
          _this71.x = v4.x;
          _this71.y = v4.y;
          _this71.z = v4.z;
          var v5 = this.w2[this.simplexSize];
          _this71.x -= v5.x;
          _this71.y -= v5.y;
          _this71.z -= v5.z;

          if (dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-008) {
            throw new Error("!?");
          }

          var _this1 = s[this.simplexSize];

          if (_this1.x * dir.x + _this1.y * dir.y + _this1.z * dir.z - (closest.x * dir.x + closest.y * dir.y + closest.z * dir.z) < 1e-008) {
            this.interpolateClosestPoints();
            this.distance = Math.sqrt(closest.x * closest.x + closest.y * closest.y + closest.z * closest.z);

            if (cache != null && cache._gjkCache != null) {
              this.saveCache(cache._gjkCache);
            }

            return 0;
          }

          this.simplexSize++;
          ++count;
        }

        return 2;
      }
    }, {
      key: "convexCastImpl",
      value: function convexCastImpl(c1, c2, tf1, tf2, tl1, tl2, hit) {
        this.c1 = c1;
        this.c2 = c2;
        this.tf1 = tf1;
        this.tf2 = tf2;
        var s = this.s;
        var closest = this.closest;
        var dir = this.dir;
        var firstDirX;
        var firstDirY;
        var firstDirZ;
        firstDirX = tf2._positionX - tf1._positionX;
        firstDirY = tf2._positionY - tf1._positionY;
        firstDirZ = tf2._positionZ - tf1._positionZ;
        dir.x = firstDirX;
        dir.y = firstDirY;
        dir.z = firstDirZ;

        if (dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-6) {
          dir.init(1, 0, 0);
        }

        this.simplexSize = 0;

        if (this.c1 != null) {
          this.computeWitnessPoint1(true);
        } else {
          var _v16 = this.w1[this.simplexSize];
          _v16.x = this.tf1._positionX;
          _v16.y = this.tf1._positionY;
          _v16.z = this.tf1._positionZ;
        }

        this.computeWitnessPoint2(true);
        var _this = this.s[this.simplexSize];
        var v = this.w1[this.simplexSize];
        _this.x = v.x;
        _this.y = v.y;
        _this.z = v.z;
        var v1 = this.w2[this.simplexSize];
        _this.x -= v1.x;
        _this.y -= v1.y;
        _this.z -= v1.z;
        this.simplexSize = 1;
        var count = 0;
        var lambda = 0.0;
        var rayX = this.rayX;
        var rayR = this.rayR;
        rayX.zero();
        rayR.x = tl2.x;
        rayR.y = tl2.y;
        rayR.z = tl2.z;
        rayR.x -= tl1.x;
        rayR.y -= tl1.y;
        rayR.z -= tl1.z;

        while (count < 40) {
          var _v17 = 0;

          switch (this.simplexSize) {
            case 1:
              var _v18 = s[0];
              closest.x = _v18.x;
              closest.y = _v18.y;
              closest.z = _v18.z;
              _v17 = 1;
              break;

            case 2:
              var v1X = void 0;
              var v1Y = void 0;
              var v1Z = void 0;
              var v2X = void 0;
              var v2Y = void 0;
              var v2Z = void 0;
              var v2 = s[0];
              v1X = v2.x;
              v1Y = v2.y;
              v1Z = v2.z;
              var v3 = s[1];
              v2X = v3.x;
              v2Y = v3.y;
              v2Z = v3.z;
              var v12X = void 0;
              var v12Y = void 0;
              var v12Z = void 0;
              v12X = v2X - v1X;
              v12Y = v2Y - v1Y;
              v12Z = v2Z - v1Z;
              var t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
              t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);

              if (t < 0) {
                closest.x = v1X;
                closest.y = v1Y;
                closest.z = v1Z;
                _v17 = 1;
              } else if (t > 1) {
                closest.x = v2X;
                closest.y = v2Y;
                closest.z = v2Z;
                _v17 = 2;
              } else {
                var pX = void 0;
                var pY = void 0;
                var pZ = void 0;
                pX = v1X + v12X * t;
                pY = v1Y + v12Y * t;
                pZ = v1Z + v12Z * t;
                closest.x = pX;
                closest.y = pY;
                closest.z = pZ;
                _v17 = 3;
              }

              break;

            case 3:
              var vec1 = s[0];
              var vec2 = s[1];
              var vec3 = s[2];
              var v1X1 = void 0;
              var v1Y1 = void 0;
              var v1Z1 = void 0;
              var v2X1 = void 0;
              var v2Y1 = void 0;
              var v2Z1 = void 0;
              var v3X = void 0;
              var v3Y = void 0;
              var v3Z = void 0;
              var v12X1 = void 0;
              var v12Y1 = void 0;
              var v12Z1 = void 0;
              var v23X = void 0;
              var v23Y = void 0;
              var v23Z = void 0;
              var v31X = void 0;
              var v31Y = void 0;
              var v31Z = void 0;
              v1X1 = vec1.x;
              v1Y1 = vec1.y;
              v1Z1 = vec1.z;
              v2X1 = vec2.x;
              v2Y1 = vec2.y;
              v2Z1 = vec2.z;
              v3X = vec3.x;
              v3Y = vec3.y;
              v3Z = vec3.z;
              v12X1 = v2X1 - v1X1;
              v12Y1 = v2Y1 - v1Y1;
              v12Z1 = v2Z1 - v1Z1;
              v23X = v3X - v2X1;
              v23Y = v3Y - v2Y1;
              v23Z = v3Z - v2Z1;
              v31X = v1X1 - v3X;
              v31Y = v1Y1 - v3Y;
              v31Z = v1Z1 - v3Z;
              var nX = void 0;
              var nY = void 0;
              var nZ = void 0;
              nX = v12Y1 * v23Z - v12Z1 * v23Y;
              nY = v12Z1 * v23X - v12X1 * v23Z;
              nZ = v12X1 * v23Y - v12Y1 * v23X;
              var n12X = void 0;
              var n12Y = void 0;
              var n12Z = void 0;
              var n23X = void 0;
              var n23Y = void 0;
              var n23Z = void 0;
              var n31X = void 0;
              var n31Y = void 0;
              var n31Z = void 0;
              n12X = v12Y1 * nZ - v12Z1 * nY;
              n12Y = v12Z1 * nX - v12X1 * nZ;
              n12Z = v12X1 * nY - v12Y1 * nX;
              n23X = v23Y * nZ - v23Z * nY;
              n23Y = v23Z * nX - v23X * nZ;
              n23Z = v23X * nY - v23Y * nX;
              n31X = v31Y * nZ - v31Z * nY;
              n31Y = v31Z * nX - v31X * nZ;
              n31Z = v31X * nY - v31Y * nX;
              var mind = -1;
              var minvX = void 0;
              var minvY = void 0;
              var minvZ = void 0;
              var mini = 0;
              minvX = 0;
              minvY = 0;
              minvZ = 0;

              if (v1X1 * n12X + v1Y1 * n12Y + v1Z1 * n12Z < 0) {
                var _v1X23 = void 0;

                var _v1Y23 = void 0;

                var _v1Z23 = void 0;

                var _v2X23 = void 0;

                var _v2Y23 = void 0;

                var _v2Z23 = void 0;

                _v1X23 = vec1.x;
                _v1Y23 = vec1.y;
                _v1Z23 = vec1.z;
                _v2X23 = vec2.x;
                _v2Y23 = vec2.y;
                _v2Z23 = vec2.z;

                var _v12X23 = void 0;

                var _v12Y23 = void 0;

                var _v12Z23 = void 0;

                _v12X23 = _v2X23 - _v1X23;
                _v12Y23 = _v2Y23 - _v1Y23;
                _v12Z23 = _v2Z23 - _v1Z23;

                var _t29 = _v12X23 * _v1X23 + _v12Y23 * _v1Y23 + _v12Z23 * _v1Z23;

                _t29 = -_t29 / (_v12X23 * _v12X23 + _v12Y23 * _v12Y23 + _v12Z23 * _v12Z23);
                var b = void 0;

                if (_t29 < 0) {
                  closest.x = _v1X23;
                  closest.y = _v1Y23;
                  closest.z = _v1Z23;
                  b = 1;
                } else if (_t29 > 1) {
                  closest.x = _v2X23;
                  closest.y = _v2Y23;
                  closest.z = _v2Z23;
                  b = 2;
                } else {
                  var _pX18 = void 0;

                  var _pY18 = void 0;

                  var _pZ18 = void 0;

                  _pX18 = _v1X23 + _v12X23 * _t29;
                  _pY18 = _v1Y23 + _v12Y23 * _t29;
                  _pZ18 = _v1Z23 + _v12Z23 * _t29;
                  closest.x = _pX18;
                  closest.y = _pY18;
                  closest.z = _pZ18;
                  b = 3;
                }

                mini = b;
                mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                minvX = closest.x;
                minvY = closest.y;
                minvZ = closest.z;
              }

              if (v2X1 * n23X + v2Y1 * n23Y + v2Z1 * n23Z < 0) {
                var _v1X24 = void 0;

                var _v1Y24 = void 0;

                var _v1Z24 = void 0;

                var _v2X24 = void 0;

                var _v2Y24 = void 0;

                var _v2Z24 = void 0;

                _v1X24 = vec2.x;
                _v1Y24 = vec2.y;
                _v1Z24 = vec2.z;
                _v2X24 = vec3.x;
                _v2Y24 = vec3.y;
                _v2Z24 = vec3.z;

                var _v12X24 = void 0;

                var _v12Y24 = void 0;

                var _v12Z24 = void 0;

                _v12X24 = _v2X24 - _v1X24;
                _v12Y24 = _v2Y24 - _v1Y24;
                _v12Z24 = _v2Z24 - _v1Z24;

                var _t30 = _v12X24 * _v1X24 + _v12Y24 * _v1Y24 + _v12Z24 * _v1Z24;

                _t30 = -_t30 / (_v12X24 * _v12X24 + _v12Y24 * _v12Y24 + _v12Z24 * _v12Z24);

                var _b19 = void 0;

                if (_t30 < 0) {
                  closest.x = _v1X24;
                  closest.y = _v1Y24;
                  closest.z = _v1Z24;
                  _b19 = 1;
                } else if (_t30 > 1) {
                  closest.x = _v2X24;
                  closest.y = _v2Y24;
                  closest.z = _v2Z24;
                  _b19 = 2;
                } else {
                  var _pX19 = void 0;

                  var _pY19 = void 0;

                  var _pZ19 = void 0;

                  _pX19 = _v1X24 + _v12X24 * _t30;
                  _pY19 = _v1Y24 + _v12Y24 * _t30;
                  _pZ19 = _v1Z24 + _v12Z24 * _t30;
                  closest.x = _pX19;
                  closest.y = _pY19;
                  closest.z = _pZ19;
                  _b19 = 3;
                }

                var d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind < 0 || d < mind) {
                  mini = _b19 << 1;
                  mind = d;
                  minvX = closest.x;
                  minvY = closest.y;
                  minvZ = closest.z;
                }
              }

              if (v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
                var _v1X25 = void 0;

                var _v1Y25 = void 0;

                var _v1Z25 = void 0;

                var _v2X25 = void 0;

                var _v2Y25 = void 0;

                var _v2Z25 = void 0;

                _v1X25 = vec1.x;
                _v1Y25 = vec1.y;
                _v1Z25 = vec1.z;
                _v2X25 = vec3.x;
                _v2Y25 = vec3.y;
                _v2Z25 = vec3.z;

                var _v12X25 = void 0;

                var _v12Y25 = void 0;

                var _v12Z25 = void 0;

                _v12X25 = _v2X25 - _v1X25;
                _v12Y25 = _v2Y25 - _v1Y25;
                _v12Z25 = _v2Z25 - _v1Z25;

                var _t31 = _v12X25 * _v1X25 + _v12Y25 * _v1Y25 + _v12Z25 * _v1Z25;

                _t31 = -_t31 / (_v12X25 * _v12X25 + _v12Y25 * _v12Y25 + _v12Z25 * _v12Z25);

                var _b20 = void 0;

                if (_t31 < 0) {
                  closest.x = _v1X25;
                  closest.y = _v1Y25;
                  closest.z = _v1Z25;
                  _b20 = 1;
                } else if (_t31 > 1) {
                  closest.x = _v2X25;
                  closest.y = _v2Y25;
                  closest.z = _v2Z25;
                  _b20 = 2;
                } else {
                  var _pX20 = void 0;

                  var _pY20 = void 0;

                  var _pZ20 = void 0;

                  _pX20 = _v1X25 + _v12X25 * _t31;
                  _pY20 = _v1Y25 + _v12Y25 * _t31;
                  _pZ20 = _v1Z25 + _v12Z25 * _t31;
                  closest.x = _pX20;
                  closest.y = _pY20;
                  closest.z = _pZ20;
                  _b20 = 3;
                }

                var _d14 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind < 0 || _d14 < mind) {
                  mini = _b20 & 1 | (_b20 & 2) << 1;
                  mind = _d14;
                  minvX = closest.x;
                  minvY = closest.y;
                  minvZ = closest.z;
                }
              }

              if (mind > 0) {
                closest.x = minvX;
                closest.y = minvY;
                closest.z = minvZ;
                _v17 = mini;
              } else {
                var l = nX * nX + nY * nY + nZ * nZ;

                if (l > 0) {
                  l = 1 / Math.sqrt(l);
                }

                nX *= l;
                nY *= l;
                nZ *= l;
                var l2 = nX * nX + nY * nY + nZ * nZ;
                l2 = (v1X1 * nX + v1Y1 * nY + v1Z1 * nZ) / l2;
                minvX = nX * l2;
                minvY = nY * l2;
                minvZ = nZ * l2;
                closest.x = minvX;
                closest.y = minvY;
                closest.z = minvZ;
                _v17 = 7;
              }

              break;

            case 4:
              var vec11 = s[0];
              var vec21 = s[1];
              var vec31 = s[2];
              var vec4 = s[3];
              var v1X2 = void 0;
              var v1Y2 = void 0;
              var v1Z2 = void 0;
              var v2X2 = void 0;
              var v2Y2 = void 0;
              var v2Z2 = void 0;
              var v3X1 = void 0;
              var v3Y1 = void 0;
              var v3Z1 = void 0;
              var v4X = void 0;
              var v4Y = void 0;
              var v4Z = void 0;
              var v12X2 = void 0;
              var v12Y2 = void 0;
              var v12Z2 = void 0;
              var v13X = void 0;
              var v13Y = void 0;
              var v13Z = void 0;
              var v14X = void 0;
              var v14Y = void 0;
              var v14Z = void 0;
              var v23X1 = void 0;
              var v23Y1 = void 0;
              var v23Z1 = void 0;
              var v24X = void 0;
              var v24Y = void 0;
              var v24Z = void 0;
              v1X2 = vec11.x;
              v1Y2 = vec11.y;
              v1Z2 = vec11.z;
              v2X2 = vec21.x;
              v2Y2 = vec21.y;
              v2Z2 = vec21.z;
              v3X1 = vec31.x;
              v3Y1 = vec31.y;
              v3Z1 = vec31.z;
              v4X = vec4.x;
              v4Y = vec4.y;
              v4Z = vec4.z;
              v12X2 = v2X2 - v1X2;
              v12Y2 = v2Y2 - v1Y2;
              v12Z2 = v2Z2 - v1Z2;
              v13X = v3X1 - v1X2;
              v13Y = v3Y1 - v1Y2;
              v13Z = v3Z1 - v1Z2;
              v14X = v4X - v1X2;
              v14Y = v4Y - v1Y2;
              v14Z = v4Z - v1Z2;
              v23X1 = v3X1 - v2X2;
              v23Y1 = v3Y1 - v2Y2;
              v23Z1 = v3Z1 - v2Z2;
              v24X = v4X - v2X2;
              v24Y = v4Y - v2Y2;
              v24Z = v4Z - v2Z2;
              var n123X = void 0;
              var n123Y = void 0;
              var n123Z = void 0;
              var n134X = void 0;
              var n134Y = void 0;
              var n134Z = void 0;
              var n142X = void 0;
              var n142Y = void 0;
              var n142Z = void 0;
              var n243X = void 0;
              var n243Y = void 0;
              var n243Z = void 0;
              n123X = v12Y2 * v13Z - v12Z2 * v13Y;
              n123Y = v12Z2 * v13X - v12X2 * v13Z;
              n123Z = v12X2 * v13Y - v12Y2 * v13X;
              n134X = v13Y * v14Z - v13Z * v14Y;
              n134Y = v13Z * v14X - v13X * v14Z;
              n134Z = v13X * v14Y - v13Y * v14X;
              n142X = v14Y * v12Z2 - v14Z * v12Y2;
              n142Y = v14Z * v12X2 - v14X * v12Z2;
              n142Z = v14X * v12Y2 - v14Y * v12X2;
              n243X = v24Y * v23Z1 - v24Z * v23Y1;
              n243Y = v24Z * v23X1 - v24X * v23Z1;
              n243Z = v24X * v23Y1 - v24Y * v23X1;
              var sign = v12X2 * n243X + v12Y2 * n243Y + v12Z2 * n243Z > 0 ? 1 : -1;
              var mind1 = -1;
              var minvX1 = void 0;
              var minvY1 = void 0;
              var minvZ1 = void 0;
              var mini1 = 0;
              minvX1 = 0;
              minvY1 = 0;
              minvZ1 = 0;

              if ((v1X2 * n123X + v1Y2 * n123Y + v1Z2 * n123Z) * sign < 0) {
                var _v1X26 = void 0;

                var _v1Y26 = void 0;

                var _v1Z26 = void 0;

                var _v2X26 = void 0;

                var _v2Y26 = void 0;

                var _v2Z26 = void 0;

                var _v3X5 = void 0;

                var _v3Y5 = void 0;

                var _v3Z5 = void 0;

                var _v12X26 = void 0;

                var _v12Y26 = void 0;

                var _v12Z26 = void 0;

                var _v23X5 = void 0;

                var _v23Y5 = void 0;

                var _v23Z5 = void 0;

                var _v31X5 = void 0;

                var _v31Y5 = void 0;

                var _v31Z5 = void 0;

                _v1X26 = vec11.x;
                _v1Y26 = vec11.y;
                _v1Z26 = vec11.z;
                _v2X26 = vec21.x;
                _v2Y26 = vec21.y;
                _v2Z26 = vec21.z;
                _v3X5 = vec31.x;
                _v3Y5 = vec31.y;
                _v3Z5 = vec31.z;
                _v12X26 = _v2X26 - _v1X26;
                _v12Y26 = _v2Y26 - _v1Y26;
                _v12Z26 = _v2Z26 - _v1Z26;
                _v23X5 = _v3X5 - _v2X26;
                _v23Y5 = _v3Y5 - _v2Y26;
                _v23Z5 = _v3Z5 - _v2Z26;
                _v31X5 = _v1X26 - _v3X5;
                _v31Y5 = _v1Y26 - _v3Y5;
                _v31Z5 = _v1Z26 - _v3Z5;

                var _nX5 = void 0;

                var _nY5 = void 0;

                var _nZ5 = void 0;

                _nX5 = _v12Y26 * _v23Z5 - _v12Z26 * _v23Y5;
                _nY5 = _v12Z26 * _v23X5 - _v12X26 * _v23Z5;
                _nZ5 = _v12X26 * _v23Y5 - _v12Y26 * _v23X5;

                var _n12X5 = void 0;

                var _n12Y5 = void 0;

                var _n12Z5 = void 0;

                var _n23X5 = void 0;

                var _n23Y5 = void 0;

                var _n23Z5 = void 0;

                var _n31X5 = void 0;

                var _n31Y5 = void 0;

                var _n31Z5 = void 0;

                _n12X5 = _v12Y26 * _nZ5 - _v12Z26 * _nY5;
                _n12Y5 = _v12Z26 * _nX5 - _v12X26 * _nZ5;
                _n12Z5 = _v12X26 * _nY5 - _v12Y26 * _nX5;
                _n23X5 = _v23Y5 * _nZ5 - _v23Z5 * _nY5;
                _n23Y5 = _v23Z5 * _nX5 - _v23X5 * _nZ5;
                _n23Z5 = _v23X5 * _nY5 - _v23Y5 * _nX5;
                _n31X5 = _v31Y5 * _nZ5 - _v31Z5 * _nY5;
                _n31Y5 = _v31Z5 * _nX5 - _v31X5 * _nZ5;
                _n31Z5 = _v31X5 * _nY5 - _v31Y5 * _nX5;

                var _mind5 = -1;

                var _minvX5 = void 0;

                var _minvY5 = void 0;

                var _minvZ5 = void 0;

                var _mini5 = 0;
                _minvX5 = 0;
                _minvY5 = 0;
                _minvZ5 = 0;

                if (_v1X26 * _n12X5 + _v1Y26 * _n12Y5 + _v1Z26 * _n12Z5 < 0) {
                  var _v1X27 = void 0;

                  var _v1Y27 = void 0;

                  var _v1Z27 = void 0;

                  var _v2X27 = void 0;

                  var _v2Y27 = void 0;

                  var _v2Z27 = void 0;

                  _v1X27 = vec11.x;
                  _v1Y27 = vec11.y;
                  _v1Z27 = vec11.z;
                  _v2X27 = vec21.x;
                  _v2Y27 = vec21.y;
                  _v2Z27 = vec21.z;

                  var _v12X27 = void 0;

                  var _v12Y27 = void 0;

                  var _v12Z27 = void 0;

                  _v12X27 = _v2X27 - _v1X27;
                  _v12Y27 = _v2Y27 - _v1Y27;
                  _v12Z27 = _v2Z27 - _v1Z27;

                  var _t32 = _v12X27 * _v1X27 + _v12Y27 * _v1Y27 + _v12Z27 * _v1Z27;

                  _t32 = -_t32 / (_v12X27 * _v12X27 + _v12Y27 * _v12Y27 + _v12Z27 * _v12Z27);

                  var _b22 = void 0;

                  if (_t32 < 0) {
                    closest.x = _v1X27;
                    closest.y = _v1Y27;
                    closest.z = _v1Z27;
                    _b22 = 1;
                  } else if (_t32 > 1) {
                    closest.x = _v2X27;
                    closest.y = _v2Y27;
                    closest.z = _v2Z27;
                    _b22 = 2;
                  } else {
                    var _pX21 = void 0;

                    var _pY21 = void 0;

                    var _pZ21 = void 0;

                    _pX21 = _v1X27 + _v12X27 * _t32;
                    _pY21 = _v1Y27 + _v12Y27 * _t32;
                    _pZ21 = _v1Z27 + _v12Z27 * _t32;
                    closest.x = _pX21;
                    closest.y = _pY21;
                    closest.z = _pZ21;
                    _b22 = 3;
                  }

                  _mini5 = _b22;
                  _mind5 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX5 = closest.x;
                  _minvY5 = closest.y;
                  _minvZ5 = closest.z;
                }

                if (_v2X26 * _n23X5 + _v2Y26 * _n23Y5 + _v2Z26 * _n23Z5 < 0) {
                  var _v1X28 = void 0;

                  var _v1Y28 = void 0;

                  var _v1Z28 = void 0;

                  var _v2X28 = void 0;

                  var _v2Y28 = void 0;

                  var _v2Z28 = void 0;

                  _v1X28 = vec21.x;
                  _v1Y28 = vec21.y;
                  _v1Z28 = vec21.z;
                  _v2X28 = vec31.x;
                  _v2Y28 = vec31.y;
                  _v2Z28 = vec31.z;

                  var _v12X28 = void 0;

                  var _v12Y28 = void 0;

                  var _v12Z28 = void 0;

                  _v12X28 = _v2X28 - _v1X28;
                  _v12Y28 = _v2Y28 - _v1Y28;
                  _v12Z28 = _v2Z28 - _v1Z28;

                  var _t33 = _v12X28 * _v1X28 + _v12Y28 * _v1Y28 + _v12Z28 * _v1Z28;

                  _t33 = -_t33 / (_v12X28 * _v12X28 + _v12Y28 * _v12Y28 + _v12Z28 * _v12Z28);

                  var _b23 = void 0;

                  if (_t33 < 0) {
                    closest.x = _v1X28;
                    closest.y = _v1Y28;
                    closest.z = _v1Z28;
                    _b23 = 1;
                  } else if (_t33 > 1) {
                    closest.x = _v2X28;
                    closest.y = _v2Y28;
                    closest.z = _v2Z28;
                    _b23 = 2;
                  } else {
                    var _pX22 = void 0;

                    var _pY22 = void 0;

                    var _pZ22 = void 0;

                    _pX22 = _v1X28 + _v12X28 * _t33;
                    _pY22 = _v1Y28 + _v12Y28 * _t33;
                    _pZ22 = _v1Z28 + _v12Z28 * _t33;
                    closest.x = _pX22;
                    closest.y = _pY22;
                    closest.z = _pZ22;
                    _b23 = 3;
                  }

                  var _d15 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind5 < 0 || _d15 < _mind5) {
                    _mini5 = _b23 << 1;
                    _mind5 = _d15;
                    _minvX5 = closest.x;
                    _minvY5 = closest.y;
                    _minvZ5 = closest.z;
                  }
                }

                if (_v3X5 * _n31X5 + _v3Y5 * _n31Y5 + _v3Z5 * _n31Z5 < 0) {
                  var _v1X29 = void 0;

                  var _v1Y29 = void 0;

                  var _v1Z29 = void 0;

                  var _v2X29 = void 0;

                  var _v2Y29 = void 0;

                  var _v2Z29 = void 0;

                  _v1X29 = vec11.x;
                  _v1Y29 = vec11.y;
                  _v1Z29 = vec11.z;
                  _v2X29 = vec31.x;
                  _v2Y29 = vec31.y;
                  _v2Z29 = vec31.z;

                  var _v12X29 = void 0;

                  var _v12Y29 = void 0;

                  var _v12Z29 = void 0;

                  _v12X29 = _v2X29 - _v1X29;
                  _v12Y29 = _v2Y29 - _v1Y29;
                  _v12Z29 = _v2Z29 - _v1Z29;

                  var _t34 = _v12X29 * _v1X29 + _v12Y29 * _v1Y29 + _v12Z29 * _v1Z29;

                  _t34 = -_t34 / (_v12X29 * _v12X29 + _v12Y29 * _v12Y29 + _v12Z29 * _v12Z29);

                  var _b24 = void 0;

                  if (_t34 < 0) {
                    closest.x = _v1X29;
                    closest.y = _v1Y29;
                    closest.z = _v1Z29;
                    _b24 = 1;
                  } else if (_t34 > 1) {
                    closest.x = _v2X29;
                    closest.y = _v2Y29;
                    closest.z = _v2Z29;
                    _b24 = 2;
                  } else {
                    var _pX23 = void 0;

                    var _pY23 = void 0;

                    var _pZ23 = void 0;

                    _pX23 = _v1X29 + _v12X29 * _t34;
                    _pY23 = _v1Y29 + _v12Y29 * _t34;
                    _pZ23 = _v1Z29 + _v12Z29 * _t34;
                    closest.x = _pX23;
                    closest.y = _pY23;
                    closest.z = _pZ23;
                    _b24 = 3;
                  }

                  var _d16 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind5 < 0 || _d16 < _mind5) {
                    _mini5 = _b24 & 1 | (_b24 & 2) << 1;
                    _mind5 = _d16;
                    _minvX5 = closest.x;
                    _minvY5 = closest.y;
                    _minvZ5 = closest.z;
                  }
                }

                var _b21 = void 0;

                if (_mind5 > 0) {
                  closest.x = _minvX5;
                  closest.y = _minvY5;
                  closest.z = _minvZ5;
                  _b21 = _mini5;
                } else {
                  var _l18 = _nX5 * _nX5 + _nY5 * _nY5 + _nZ5 * _nZ5;

                  if (_l18 > 0) {
                    _l18 = 1 / Math.sqrt(_l18);
                  }

                  _nX5 *= _l18;
                  _nY5 *= _l18;
                  _nZ5 *= _l18;

                  var _l19 = _nX5 * _nX5 + _nY5 * _nY5 + _nZ5 * _nZ5;

                  _l19 = (_v1X26 * _nX5 + _v1Y26 * _nY5 + _v1Z26 * _nZ5) / _l19;
                  _minvX5 = _nX5 * _l19;
                  _minvY5 = _nY5 * _l19;
                  _minvZ5 = _nZ5 * _l19;
                  closest.x = _minvX5;
                  closest.y = _minvY5;
                  closest.z = _minvZ5;
                  _b21 = 7;
                }

                mini1 = _b21;
                mind1 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                minvX1 = closest.x;
                minvY1 = closest.y;
                minvZ1 = closest.z;
              }

              if ((v1X2 * n134X + v1Y2 * n134Y + v1Z2 * n134Z) * sign < 0) {
                var _v1X30 = void 0;

                var _v1Y30 = void 0;

                var _v1Z30 = void 0;

                var _v2X30 = void 0;

                var _v2Y30 = void 0;

                var _v2Z30 = void 0;

                var _v3X6 = void 0;

                var _v3Y6 = void 0;

                var _v3Z6 = void 0;

                var _v12X30 = void 0;

                var _v12Y30 = void 0;

                var _v12Z30 = void 0;

                var _v23X6 = void 0;

                var _v23Y6 = void 0;

                var _v23Z6 = void 0;

                var _v31X6 = void 0;

                var _v31Y6 = void 0;

                var _v31Z6 = void 0;

                _v1X30 = vec11.x;
                _v1Y30 = vec11.y;
                _v1Z30 = vec11.z;
                _v2X30 = vec31.x;
                _v2Y30 = vec31.y;
                _v2Z30 = vec31.z;
                _v3X6 = vec4.x;
                _v3Y6 = vec4.y;
                _v3Z6 = vec4.z;
                _v12X30 = _v2X30 - _v1X30;
                _v12Y30 = _v2Y30 - _v1Y30;
                _v12Z30 = _v2Z30 - _v1Z30;
                _v23X6 = _v3X6 - _v2X30;
                _v23Y6 = _v3Y6 - _v2Y30;
                _v23Z6 = _v3Z6 - _v2Z30;
                _v31X6 = _v1X30 - _v3X6;
                _v31Y6 = _v1Y30 - _v3Y6;
                _v31Z6 = _v1Z30 - _v3Z6;

                var _nX6 = void 0;

                var _nY6 = void 0;

                var _nZ6 = void 0;

                _nX6 = _v12Y30 * _v23Z6 - _v12Z30 * _v23Y6;
                _nY6 = _v12Z30 * _v23X6 - _v12X30 * _v23Z6;
                _nZ6 = _v12X30 * _v23Y6 - _v12Y30 * _v23X6;

                var _n12X6 = void 0;

                var _n12Y6 = void 0;

                var _n12Z6 = void 0;

                var _n23X6 = void 0;

                var _n23Y6 = void 0;

                var _n23Z6 = void 0;

                var _n31X6 = void 0;

                var _n31Y6 = void 0;

                var _n31Z6 = void 0;

                _n12X6 = _v12Y30 * _nZ6 - _v12Z30 * _nY6;
                _n12Y6 = _v12Z30 * _nX6 - _v12X30 * _nZ6;
                _n12Z6 = _v12X30 * _nY6 - _v12Y30 * _nX6;
                _n23X6 = _v23Y6 * _nZ6 - _v23Z6 * _nY6;
                _n23Y6 = _v23Z6 * _nX6 - _v23X6 * _nZ6;
                _n23Z6 = _v23X6 * _nY6 - _v23Y6 * _nX6;
                _n31X6 = _v31Y6 * _nZ6 - _v31Z6 * _nY6;
                _n31Y6 = _v31Z6 * _nX6 - _v31X6 * _nZ6;
                _n31Z6 = _v31X6 * _nY6 - _v31Y6 * _nX6;

                var _mind6 = -1;

                var _minvX6 = void 0;

                var _minvY6 = void 0;

                var _minvZ6 = void 0;

                var _mini6 = 0;
                _minvX6 = 0;
                _minvY6 = 0;
                _minvZ6 = 0;

                if (_v1X30 * _n12X6 + _v1Y30 * _n12Y6 + _v1Z30 * _n12Z6 < 0) {
                  var _v1X31 = void 0;

                  var _v1Y31 = void 0;

                  var _v1Z31 = void 0;

                  var _v2X31 = void 0;

                  var _v2Y31 = void 0;

                  var _v2Z31 = void 0;

                  _v1X31 = vec11.x;
                  _v1Y31 = vec11.y;
                  _v1Z31 = vec11.z;
                  _v2X31 = vec31.x;
                  _v2Y31 = vec31.y;
                  _v2Z31 = vec31.z;

                  var _v12X31 = void 0;

                  var _v12Y31 = void 0;

                  var _v12Z31 = void 0;

                  _v12X31 = _v2X31 - _v1X31;
                  _v12Y31 = _v2Y31 - _v1Y31;
                  _v12Z31 = _v2Z31 - _v1Z31;

                  var _t35 = _v12X31 * _v1X31 + _v12Y31 * _v1Y31 + _v12Z31 * _v1Z31;

                  _t35 = -_t35 / (_v12X31 * _v12X31 + _v12Y31 * _v12Y31 + _v12Z31 * _v12Z31);

                  var _b26 = void 0;

                  if (_t35 < 0) {
                    closest.x = _v1X31;
                    closest.y = _v1Y31;
                    closest.z = _v1Z31;
                    _b26 = 1;
                  } else if (_t35 > 1) {
                    closest.x = _v2X31;
                    closest.y = _v2Y31;
                    closest.z = _v2Z31;
                    _b26 = 2;
                  } else {
                    var _pX24 = void 0;

                    var _pY24 = void 0;

                    var _pZ24 = void 0;

                    _pX24 = _v1X31 + _v12X31 * _t35;
                    _pY24 = _v1Y31 + _v12Y31 * _t35;
                    _pZ24 = _v1Z31 + _v12Z31 * _t35;
                    closest.x = _pX24;
                    closest.y = _pY24;
                    closest.z = _pZ24;
                    _b26 = 3;
                  }

                  _mini6 = _b26;
                  _mind6 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX6 = closest.x;
                  _minvY6 = closest.y;
                  _minvZ6 = closest.z;
                }

                if (_v2X30 * _n23X6 + _v2Y30 * _n23Y6 + _v2Z30 * _n23Z6 < 0) {
                  var _v1X32 = void 0;

                  var _v1Y32 = void 0;

                  var _v1Z32 = void 0;

                  var _v2X32 = void 0;

                  var _v2Y32 = void 0;

                  var _v2Z32 = void 0;

                  _v1X32 = vec31.x;
                  _v1Y32 = vec31.y;
                  _v1Z32 = vec31.z;
                  _v2X32 = vec4.x;
                  _v2Y32 = vec4.y;
                  _v2Z32 = vec4.z;

                  var _v12X32 = void 0;

                  var _v12Y32 = void 0;

                  var _v12Z32 = void 0;

                  _v12X32 = _v2X32 - _v1X32;
                  _v12Y32 = _v2Y32 - _v1Y32;
                  _v12Z32 = _v2Z32 - _v1Z32;

                  var _t36 = _v12X32 * _v1X32 + _v12Y32 * _v1Y32 + _v12Z32 * _v1Z32;

                  _t36 = -_t36 / (_v12X32 * _v12X32 + _v12Y32 * _v12Y32 + _v12Z32 * _v12Z32);

                  var _b27 = void 0;

                  if (_t36 < 0) {
                    closest.x = _v1X32;
                    closest.y = _v1Y32;
                    closest.z = _v1Z32;
                    _b27 = 1;
                  } else if (_t36 > 1) {
                    closest.x = _v2X32;
                    closest.y = _v2Y32;
                    closest.z = _v2Z32;
                    _b27 = 2;
                  } else {
                    var _pX25 = void 0;

                    var _pY25 = void 0;

                    var _pZ25 = void 0;

                    _pX25 = _v1X32 + _v12X32 * _t36;
                    _pY25 = _v1Y32 + _v12Y32 * _t36;
                    _pZ25 = _v1Z32 + _v12Z32 * _t36;
                    closest.x = _pX25;
                    closest.y = _pY25;
                    closest.z = _pZ25;
                    _b27 = 3;
                  }

                  var _d18 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind6 < 0 || _d18 < _mind6) {
                    _mini6 = _b27 << 1;
                    _mind6 = _d18;
                    _minvX6 = closest.x;
                    _minvY6 = closest.y;
                    _minvZ6 = closest.z;
                  }
                }

                if (_v3X6 * _n31X6 + _v3Y6 * _n31Y6 + _v3Z6 * _n31Z6 < 0) {
                  var _v1X33 = void 0;

                  var _v1Y33 = void 0;

                  var _v1Z33 = void 0;

                  var _v2X33 = void 0;

                  var _v2Y33 = void 0;

                  var _v2Z33 = void 0;

                  _v1X33 = vec11.x;
                  _v1Y33 = vec11.y;
                  _v1Z33 = vec11.z;
                  _v2X33 = vec4.x;
                  _v2Y33 = vec4.y;
                  _v2Z33 = vec4.z;

                  var _v12X33 = void 0;

                  var _v12Y33 = void 0;

                  var _v12Z33 = void 0;

                  _v12X33 = _v2X33 - _v1X33;
                  _v12Y33 = _v2Y33 - _v1Y33;
                  _v12Z33 = _v2Z33 - _v1Z33;

                  var _t37 = _v12X33 * _v1X33 + _v12Y33 * _v1Y33 + _v12Z33 * _v1Z33;

                  _t37 = -_t37 / (_v12X33 * _v12X33 + _v12Y33 * _v12Y33 + _v12Z33 * _v12Z33);

                  var _b28 = void 0;

                  if (_t37 < 0) {
                    closest.x = _v1X33;
                    closest.y = _v1Y33;
                    closest.z = _v1Z33;
                    _b28 = 1;
                  } else if (_t37 > 1) {
                    closest.x = _v2X33;
                    closest.y = _v2Y33;
                    closest.z = _v2Z33;
                    _b28 = 2;
                  } else {
                    var _pX26 = void 0;

                    var _pY26 = void 0;

                    var _pZ26 = void 0;

                    _pX26 = _v1X33 + _v12X33 * _t37;
                    _pY26 = _v1Y33 + _v12Y33 * _t37;
                    _pZ26 = _v1Z33 + _v12Z33 * _t37;
                    closest.x = _pX26;
                    closest.y = _pY26;
                    closest.z = _pZ26;
                    _b28 = 3;
                  }

                  var _d19 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind6 < 0 || _d19 < _mind6) {
                    _mini6 = _b28 & 1 | (_b28 & 2) << 1;
                    _mind6 = _d19;
                    _minvX6 = closest.x;
                    _minvY6 = closest.y;
                    _minvZ6 = closest.z;
                  }
                }

                var _b25 = void 0;

                if (_mind6 > 0) {
                  closest.x = _minvX6;
                  closest.y = _minvY6;
                  closest.z = _minvZ6;
                  _b25 = _mini6;
                } else {
                  var _l20 = _nX6 * _nX6 + _nY6 * _nY6 + _nZ6 * _nZ6;

                  if (_l20 > 0) {
                    _l20 = 1 / Math.sqrt(_l20);
                  }

                  _nX6 *= _l20;
                  _nY6 *= _l20;
                  _nZ6 *= _l20;

                  var _l21 = _nX6 * _nX6 + _nY6 * _nY6 + _nZ6 * _nZ6;

                  _l21 = (_v1X30 * _nX6 + _v1Y30 * _nY6 + _v1Z30 * _nZ6) / _l21;
                  _minvX6 = _nX6 * _l21;
                  _minvY6 = _nY6 * _l21;
                  _minvZ6 = _nZ6 * _l21;
                  closest.x = _minvX6;
                  closest.y = _minvY6;
                  closest.z = _minvZ6;
                  _b25 = 7;
                }

                var _d17 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind1 < 0 || _d17 < mind1) {
                  mini1 = _b25 & 1 | (_b25 & 6) << 1;
                  mind1 = _d17;
                  minvX1 = closest.x;
                  minvY1 = closest.y;
                  minvZ1 = closest.z;
                }
              }

              if ((v1X2 * n142X + v1Y2 * n142Y + v1Z2 * n142Z) * sign < 0) {
                var _v1X34 = void 0;

                var _v1Y34 = void 0;

                var _v1Z34 = void 0;

                var _v2X34 = void 0;

                var _v2Y34 = void 0;

                var _v2Z34 = void 0;

                var _v3X7 = void 0;

                var _v3Y7 = void 0;

                var _v3Z7 = void 0;

                var _v12X34 = void 0;

                var _v12Y34 = void 0;

                var _v12Z34 = void 0;

                var _v23X7 = void 0;

                var _v23Y7 = void 0;

                var _v23Z7 = void 0;

                var _v31X7 = void 0;

                var _v31Y7 = void 0;

                var _v31Z7 = void 0;

                _v1X34 = vec11.x;
                _v1Y34 = vec11.y;
                _v1Z34 = vec11.z;
                _v2X34 = vec21.x;
                _v2Y34 = vec21.y;
                _v2Z34 = vec21.z;
                _v3X7 = vec4.x;
                _v3Y7 = vec4.y;
                _v3Z7 = vec4.z;
                _v12X34 = _v2X34 - _v1X34;
                _v12Y34 = _v2Y34 - _v1Y34;
                _v12Z34 = _v2Z34 - _v1Z34;
                _v23X7 = _v3X7 - _v2X34;
                _v23Y7 = _v3Y7 - _v2Y34;
                _v23Z7 = _v3Z7 - _v2Z34;
                _v31X7 = _v1X34 - _v3X7;
                _v31Y7 = _v1Y34 - _v3Y7;
                _v31Z7 = _v1Z34 - _v3Z7;

                var _nX7 = void 0;

                var _nY7 = void 0;

                var _nZ7 = void 0;

                _nX7 = _v12Y34 * _v23Z7 - _v12Z34 * _v23Y7;
                _nY7 = _v12Z34 * _v23X7 - _v12X34 * _v23Z7;
                _nZ7 = _v12X34 * _v23Y7 - _v12Y34 * _v23X7;

                var _n12X7 = void 0;

                var _n12Y7 = void 0;

                var _n12Z7 = void 0;

                var _n23X7 = void 0;

                var _n23Y7 = void 0;

                var _n23Z7 = void 0;

                var _n31X7 = void 0;

                var _n31Y7 = void 0;

                var _n31Z7 = void 0;

                _n12X7 = _v12Y34 * _nZ7 - _v12Z34 * _nY7;
                _n12Y7 = _v12Z34 * _nX7 - _v12X34 * _nZ7;
                _n12Z7 = _v12X34 * _nY7 - _v12Y34 * _nX7;
                _n23X7 = _v23Y7 * _nZ7 - _v23Z7 * _nY7;
                _n23Y7 = _v23Z7 * _nX7 - _v23X7 * _nZ7;
                _n23Z7 = _v23X7 * _nY7 - _v23Y7 * _nX7;
                _n31X7 = _v31Y7 * _nZ7 - _v31Z7 * _nY7;
                _n31Y7 = _v31Z7 * _nX7 - _v31X7 * _nZ7;
                _n31Z7 = _v31X7 * _nY7 - _v31Y7 * _nX7;

                var _mind7 = -1;

                var _minvX7 = void 0;

                var _minvY7 = void 0;

                var _minvZ7 = void 0;

                var _mini7 = 0;
                _minvX7 = 0;
                _minvY7 = 0;
                _minvZ7 = 0;

                if (_v1X34 * _n12X7 + _v1Y34 * _n12Y7 + _v1Z34 * _n12Z7 < 0) {
                  var _v1X35 = void 0;

                  var _v1Y35 = void 0;

                  var _v1Z35 = void 0;

                  var _v2X35 = void 0;

                  var _v2Y35 = void 0;

                  var _v2Z35 = void 0;

                  _v1X35 = vec11.x;
                  _v1Y35 = vec11.y;
                  _v1Z35 = vec11.z;
                  _v2X35 = vec21.x;
                  _v2Y35 = vec21.y;
                  _v2Z35 = vec21.z;

                  var _v12X35 = void 0;

                  var _v12Y35 = void 0;

                  var _v12Z35 = void 0;

                  _v12X35 = _v2X35 - _v1X35;
                  _v12Y35 = _v2Y35 - _v1Y35;
                  _v12Z35 = _v2Z35 - _v1Z35;

                  var _t38 = _v12X35 * _v1X35 + _v12Y35 * _v1Y35 + _v12Z35 * _v1Z35;

                  _t38 = -_t38 / (_v12X35 * _v12X35 + _v12Y35 * _v12Y35 + _v12Z35 * _v12Z35);

                  var _b30 = void 0;

                  if (_t38 < 0) {
                    closest.x = _v1X35;
                    closest.y = _v1Y35;
                    closest.z = _v1Z35;
                    _b30 = 1;
                  } else if (_t38 > 1) {
                    closest.x = _v2X35;
                    closest.y = _v2Y35;
                    closest.z = _v2Z35;
                    _b30 = 2;
                  } else {
                    var _pX27 = void 0;

                    var _pY27 = void 0;

                    var _pZ27 = void 0;

                    _pX27 = _v1X35 + _v12X35 * _t38;
                    _pY27 = _v1Y35 + _v12Y35 * _t38;
                    _pZ27 = _v1Z35 + _v12Z35 * _t38;
                    closest.x = _pX27;
                    closest.y = _pY27;
                    closest.z = _pZ27;
                    _b30 = 3;
                  }

                  _mini7 = _b30;
                  _mind7 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX7 = closest.x;
                  _minvY7 = closest.y;
                  _minvZ7 = closest.z;
                }

                if (_v2X34 * _n23X7 + _v2Y34 * _n23Y7 + _v2Z34 * _n23Z7 < 0) {
                  var _v1X36 = void 0;

                  var _v1Y36 = void 0;

                  var _v1Z36 = void 0;

                  var _v2X36 = void 0;

                  var _v2Y36 = void 0;

                  var _v2Z36 = void 0;

                  _v1X36 = vec21.x;
                  _v1Y36 = vec21.y;
                  _v1Z36 = vec21.z;
                  _v2X36 = vec4.x;
                  _v2Y36 = vec4.y;
                  _v2Z36 = vec4.z;

                  var _v12X36 = void 0;

                  var _v12Y36 = void 0;

                  var _v12Z36 = void 0;

                  _v12X36 = _v2X36 - _v1X36;
                  _v12Y36 = _v2Y36 - _v1Y36;
                  _v12Z36 = _v2Z36 - _v1Z36;

                  var _t39 = _v12X36 * _v1X36 + _v12Y36 * _v1Y36 + _v12Z36 * _v1Z36;

                  _t39 = -_t39 / (_v12X36 * _v12X36 + _v12Y36 * _v12Y36 + _v12Z36 * _v12Z36);

                  var _b31 = void 0;

                  if (_t39 < 0) {
                    closest.x = _v1X36;
                    closest.y = _v1Y36;
                    closest.z = _v1Z36;
                    _b31 = 1;
                  } else if (_t39 > 1) {
                    closest.x = _v2X36;
                    closest.y = _v2Y36;
                    closest.z = _v2Z36;
                    _b31 = 2;
                  } else {
                    var _pX28 = void 0;

                    var _pY28 = void 0;

                    var _pZ28 = void 0;

                    _pX28 = _v1X36 + _v12X36 * _t39;
                    _pY28 = _v1Y36 + _v12Y36 * _t39;
                    _pZ28 = _v1Z36 + _v12Z36 * _t39;
                    closest.x = _pX28;
                    closest.y = _pY28;
                    closest.z = _pZ28;
                    _b31 = 3;
                  }

                  var _d21 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind7 < 0 || _d21 < _mind7) {
                    _mini7 = _b31 << 1;
                    _mind7 = _d21;
                    _minvX7 = closest.x;
                    _minvY7 = closest.y;
                    _minvZ7 = closest.z;
                  }
                }

                if (_v3X7 * _n31X7 + _v3Y7 * _n31Y7 + _v3Z7 * _n31Z7 < 0) {
                  var _v1X37 = void 0;

                  var _v1Y37 = void 0;

                  var _v1Z37 = void 0;

                  var _v2X37 = void 0;

                  var _v2Y37 = void 0;

                  var _v2Z37 = void 0;

                  _v1X37 = vec11.x;
                  _v1Y37 = vec11.y;
                  _v1Z37 = vec11.z;
                  _v2X37 = vec4.x;
                  _v2Y37 = vec4.y;
                  _v2Z37 = vec4.z;

                  var _v12X37 = void 0;

                  var _v12Y37 = void 0;

                  var _v12Z37 = void 0;

                  _v12X37 = _v2X37 - _v1X37;
                  _v12Y37 = _v2Y37 - _v1Y37;
                  _v12Z37 = _v2Z37 - _v1Z37;

                  var _t40 = _v12X37 * _v1X37 + _v12Y37 * _v1Y37 + _v12Z37 * _v1Z37;

                  _t40 = -_t40 / (_v12X37 * _v12X37 + _v12Y37 * _v12Y37 + _v12Z37 * _v12Z37);

                  var _b32 = void 0;

                  if (_t40 < 0) {
                    closest.x = _v1X37;
                    closest.y = _v1Y37;
                    closest.z = _v1Z37;
                    _b32 = 1;
                  } else if (_t40 > 1) {
                    closest.x = _v2X37;
                    closest.y = _v2Y37;
                    closest.z = _v2Z37;
                    _b32 = 2;
                  } else {
                    var _pX29 = void 0;

                    var _pY29 = void 0;

                    var _pZ29 = void 0;

                    _pX29 = _v1X37 + _v12X37 * _t40;
                    _pY29 = _v1Y37 + _v12Y37 * _t40;
                    _pZ29 = _v1Z37 + _v12Z37 * _t40;
                    closest.x = _pX29;
                    closest.y = _pY29;
                    closest.z = _pZ29;
                    _b32 = 3;
                  }

                  var _d22 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind7 < 0 || _d22 < _mind7) {
                    _mini7 = _b32 & 1 | (_b32 & 2) << 1;
                    _mind7 = _d22;
                    _minvX7 = closest.x;
                    _minvY7 = closest.y;
                    _minvZ7 = closest.z;
                  }
                }

                var _b29 = void 0;

                if (_mind7 > 0) {
                  closest.x = _minvX7;
                  closest.y = _minvY7;
                  closest.z = _minvZ7;
                  _b29 = _mini7;
                } else {
                  var _l22 = _nX7 * _nX7 + _nY7 * _nY7 + _nZ7 * _nZ7;

                  if (_l22 > 0) {
                    _l22 = 1 / Math.sqrt(_l22);
                  }

                  _nX7 *= _l22;
                  _nY7 *= _l22;
                  _nZ7 *= _l22;

                  var _l23 = _nX7 * _nX7 + _nY7 * _nY7 + _nZ7 * _nZ7;

                  _l23 = (_v1X34 * _nX7 + _v1Y34 * _nY7 + _v1Z34 * _nZ7) / _l23;
                  _minvX7 = _nX7 * _l23;
                  _minvY7 = _nY7 * _l23;
                  _minvZ7 = _nZ7 * _l23;
                  closest.x = _minvX7;
                  closest.y = _minvY7;
                  closest.z = _minvZ7;
                  _b29 = 7;
                }

                var _d20 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind1 < 0 || _d20 < mind1) {
                  mini1 = _b29 & 3 | (_b29 & 4) << 1;
                  mind1 = _d20;
                  minvX1 = closest.x;
                  minvY1 = closest.y;
                  minvZ1 = closest.z;
                }
              }

              if ((v2X2 * n243X + v2Y2 * n243Y + v2Z2 * n243Z) * sign < 0) {
                var _v1X38 = void 0;

                var _v1Y38 = void 0;

                var _v1Z38 = void 0;

                var _v2X38 = void 0;

                var _v2Y38 = void 0;

                var _v2Z38 = void 0;

                var _v3X8 = void 0;

                var _v3Y8 = void 0;

                var _v3Z8 = void 0;

                var _v12X38 = void 0;

                var _v12Y38 = void 0;

                var _v12Z38 = void 0;

                var _v23X8 = void 0;

                var _v23Y8 = void 0;

                var _v23Z8 = void 0;

                var _v31X8 = void 0;

                var _v31Y8 = void 0;

                var _v31Z8 = void 0;

                _v1X38 = vec21.x;
                _v1Y38 = vec21.y;
                _v1Z38 = vec21.z;
                _v2X38 = vec31.x;
                _v2Y38 = vec31.y;
                _v2Z38 = vec31.z;
                _v3X8 = vec4.x;
                _v3Y8 = vec4.y;
                _v3Z8 = vec4.z;
                _v12X38 = _v2X38 - _v1X38;
                _v12Y38 = _v2Y38 - _v1Y38;
                _v12Z38 = _v2Z38 - _v1Z38;
                _v23X8 = _v3X8 - _v2X38;
                _v23Y8 = _v3Y8 - _v2Y38;
                _v23Z8 = _v3Z8 - _v2Z38;
                _v31X8 = _v1X38 - _v3X8;
                _v31Y8 = _v1Y38 - _v3Y8;
                _v31Z8 = _v1Z38 - _v3Z8;

                var _nX8 = void 0;

                var _nY8 = void 0;

                var _nZ8 = void 0;

                _nX8 = _v12Y38 * _v23Z8 - _v12Z38 * _v23Y8;
                _nY8 = _v12Z38 * _v23X8 - _v12X38 * _v23Z8;
                _nZ8 = _v12X38 * _v23Y8 - _v12Y38 * _v23X8;

                var _n12X8 = void 0;

                var _n12Y8 = void 0;

                var _n12Z8 = void 0;

                var _n23X8 = void 0;

                var _n23Y8 = void 0;

                var _n23Z8 = void 0;

                var _n31X8 = void 0;

                var _n31Y8 = void 0;

                var _n31Z8 = void 0;

                _n12X8 = _v12Y38 * _nZ8 - _v12Z38 * _nY8;
                _n12Y8 = _v12Z38 * _nX8 - _v12X38 * _nZ8;
                _n12Z8 = _v12X38 * _nY8 - _v12Y38 * _nX8;
                _n23X8 = _v23Y8 * _nZ8 - _v23Z8 * _nY8;
                _n23Y8 = _v23Z8 * _nX8 - _v23X8 * _nZ8;
                _n23Z8 = _v23X8 * _nY8 - _v23Y8 * _nX8;
                _n31X8 = _v31Y8 * _nZ8 - _v31Z8 * _nY8;
                _n31Y8 = _v31Z8 * _nX8 - _v31X8 * _nZ8;
                _n31Z8 = _v31X8 * _nY8 - _v31Y8 * _nX8;

                var _mind8 = -1;

                var _minvX8 = void 0;

                var _minvY8 = void 0;

                var _minvZ8 = void 0;

                var _mini8 = 0;
                _minvX8 = 0;
                _minvY8 = 0;
                _minvZ8 = 0;

                if (_v1X38 * _n12X8 + _v1Y38 * _n12Y8 + _v1Z38 * _n12Z8 < 0) {
                  var _v1X39 = void 0;

                  var _v1Y39 = void 0;

                  var _v1Z39 = void 0;

                  var _v2X39 = void 0;

                  var _v2Y39 = void 0;

                  var _v2Z39 = void 0;

                  _v1X39 = vec21.x;
                  _v1Y39 = vec21.y;
                  _v1Z39 = vec21.z;
                  _v2X39 = vec31.x;
                  _v2Y39 = vec31.y;
                  _v2Z39 = vec31.z;

                  var _v12X39 = void 0;

                  var _v12Y39 = void 0;

                  var _v12Z39 = void 0;

                  _v12X39 = _v2X39 - _v1X39;
                  _v12Y39 = _v2Y39 - _v1Y39;
                  _v12Z39 = _v2Z39 - _v1Z39;

                  var _t41 = _v12X39 * _v1X39 + _v12Y39 * _v1Y39 + _v12Z39 * _v1Z39;

                  _t41 = -_t41 / (_v12X39 * _v12X39 + _v12Y39 * _v12Y39 + _v12Z39 * _v12Z39);

                  var _b34 = void 0;

                  if (_t41 < 0) {
                    closest.x = _v1X39;
                    closest.y = _v1Y39;
                    closest.z = _v1Z39;
                    _b34 = 1;
                  } else if (_t41 > 1) {
                    closest.x = _v2X39;
                    closest.y = _v2Y39;
                    closest.z = _v2Z39;
                    _b34 = 2;
                  } else {
                    var _pX30 = void 0;

                    var _pY30 = void 0;

                    var _pZ30 = void 0;

                    _pX30 = _v1X39 + _v12X39 * _t41;
                    _pY30 = _v1Y39 + _v12Y39 * _t41;
                    _pZ30 = _v1Z39 + _v12Z39 * _t41;
                    closest.x = _pX30;
                    closest.y = _pY30;
                    closest.z = _pZ30;
                    _b34 = 3;
                  }

                  _mini8 = _b34;
                  _mind8 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
                  _minvX8 = closest.x;
                  _minvY8 = closest.y;
                  _minvZ8 = closest.z;
                }

                if (_v2X38 * _n23X8 + _v2Y38 * _n23Y8 + _v2Z38 * _n23Z8 < 0) {
                  var _v1X40 = void 0;

                  var _v1Y40 = void 0;

                  var _v1Z40 = void 0;

                  var _v2X40 = void 0;

                  var _v2Y40 = void 0;

                  var _v2Z40 = void 0;

                  _v1X40 = vec31.x;
                  _v1Y40 = vec31.y;
                  _v1Z40 = vec31.z;
                  _v2X40 = vec4.x;
                  _v2Y40 = vec4.y;
                  _v2Z40 = vec4.z;

                  var _v12X40 = void 0;

                  var _v12Y40 = void 0;

                  var _v12Z40 = void 0;

                  _v12X40 = _v2X40 - _v1X40;
                  _v12Y40 = _v2Y40 - _v1Y40;
                  _v12Z40 = _v2Z40 - _v1Z40;

                  var _t42 = _v12X40 * _v1X40 + _v12Y40 * _v1Y40 + _v12Z40 * _v1Z40;

                  _t42 = -_t42 / (_v12X40 * _v12X40 + _v12Y40 * _v12Y40 + _v12Z40 * _v12Z40);

                  var _b35 = void 0;

                  if (_t42 < 0) {
                    closest.x = _v1X40;
                    closest.y = _v1Y40;
                    closest.z = _v1Z40;
                    _b35 = 1;
                  } else if (_t42 > 1) {
                    closest.x = _v2X40;
                    closest.y = _v2Y40;
                    closest.z = _v2Z40;
                    _b35 = 2;
                  } else {
                    var _pX31 = void 0;

                    var _pY31 = void 0;

                    var _pZ31 = void 0;

                    _pX31 = _v1X40 + _v12X40 * _t42;
                    _pY31 = _v1Y40 + _v12Y40 * _t42;
                    _pZ31 = _v1Z40 + _v12Z40 * _t42;
                    closest.x = _pX31;
                    closest.y = _pY31;
                    closest.z = _pZ31;
                    _b35 = 3;
                  }

                  var _d24 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind8 < 0 || _d24 < _mind8) {
                    _mini8 = _b35 << 1;
                    _mind8 = _d24;
                    _minvX8 = closest.x;
                    _minvY8 = closest.y;
                    _minvZ8 = closest.z;
                  }
                }

                if (_v3X8 * _n31X8 + _v3Y8 * _n31Y8 + _v3Z8 * _n31Z8 < 0) {
                  var _v1X41 = void 0;

                  var _v1Y41 = void 0;

                  var _v1Z41 = void 0;

                  var _v2X41 = void 0;

                  var _v2Y41 = void 0;

                  var _v2Z41 = void 0;

                  _v1X41 = vec21.x;
                  _v1Y41 = vec21.y;
                  _v1Z41 = vec21.z;
                  _v2X41 = vec4.x;
                  _v2Y41 = vec4.y;
                  _v2Z41 = vec4.z;

                  var _v12X41 = void 0;

                  var _v12Y41 = void 0;

                  var _v12Z41 = void 0;

                  _v12X41 = _v2X41 - _v1X41;
                  _v12Y41 = _v2Y41 - _v1Y41;
                  _v12Z41 = _v2Z41 - _v1Z41;

                  var _t43 = _v12X41 * _v1X41 + _v12Y41 * _v1Y41 + _v12Z41 * _v1Z41;

                  _t43 = -_t43 / (_v12X41 * _v12X41 + _v12Y41 * _v12Y41 + _v12Z41 * _v12Z41);

                  var _b36 = void 0;

                  if (_t43 < 0) {
                    closest.x = _v1X41;
                    closest.y = _v1Y41;
                    closest.z = _v1Z41;
                    _b36 = 1;
                  } else if (_t43 > 1) {
                    closest.x = _v2X41;
                    closest.y = _v2Y41;
                    closest.z = _v2Z41;
                    _b36 = 2;
                  } else {
                    var _pX32 = void 0;

                    var _pY32 = void 0;

                    var _pZ32 = void 0;

                    _pX32 = _v1X41 + _v12X41 * _t43;
                    _pY32 = _v1Y41 + _v12Y41 * _t43;
                    _pZ32 = _v1Z41 + _v12Z41 * _t43;
                    closest.x = _pX32;
                    closest.y = _pY32;
                    closest.z = _pZ32;
                    _b36 = 3;
                  }

                  var _d25 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                  if (_mind8 < 0 || _d25 < _mind8) {
                    _mini8 = _b36 & 1 | (_b36 & 2) << 1;
                    _mind8 = _d25;
                    _minvX8 = closest.x;
                    _minvY8 = closest.y;
                    _minvZ8 = closest.z;
                  }
                }

                var _b33 = void 0;

                if (_mind8 > 0) {
                  closest.x = _minvX8;
                  closest.y = _minvY8;
                  closest.z = _minvZ8;
                  _b33 = _mini8;
                } else {
                  var _l24 = _nX8 * _nX8 + _nY8 * _nY8 + _nZ8 * _nZ8;

                  if (_l24 > 0) {
                    _l24 = 1 / Math.sqrt(_l24);
                  }

                  _nX8 *= _l24;
                  _nY8 *= _l24;
                  _nZ8 *= _l24;

                  var _l25 = _nX8 * _nX8 + _nY8 * _nY8 + _nZ8 * _nZ8;

                  _l25 = (_v1X38 * _nX8 + _v1Y38 * _nY8 + _v1Z38 * _nZ8) / _l25;
                  _minvX8 = _nX8 * _l25;
                  _minvY8 = _nY8 * _l25;
                  _minvZ8 = _nZ8 * _l25;
                  closest.x = _minvX8;
                  closest.y = _minvY8;
                  closest.z = _minvZ8;
                  _b33 = 7;
                }

                var _d23 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;

                if (mind1 < 0 || _d23 < mind1) {
                  mini1 = _b33 << 1;
                  mind1 = _d23;
                  minvX1 = closest.x;
                  minvY1 = closest.y;
                  minvZ1 = closest.z;
                }
              }

              if (mind1 > 0) {
                closest.x = minvX1;
                closest.y = minvY1;
                closest.z = minvZ1;
                _v17 = mini1;
              } else {
                closest.zero();
                _v17 = 15;
              }

              break;
          }

          this.shrinkSimplex(_v17);

          if (closest.x * closest.x + closest.y * closest.y + closest.z * closest.z < 1e-008) {
            if (lambda == 0 || this.simplexSize == 4) {
              hit.fraction = lambda;
              return false;
            }

            this.interpolateClosestPoints();
            hit.fraction = lambda;
            var _this73 = hit.normal;
            _this73.x = dir.x;
            _this73.y = dir.y;
            _this73.z = dir.z;
            var invLen = Math.sqrt(_this73.x * _this73.x + _this73.y * _this73.y + _this73.z * _this73.z);

            if (invLen > 0) {
              invLen = 1 / invLen;
            }

            _this73.x *= invLen;
            _this73.y *= invLen;
            _this73.z *= invLen;
            var _this74 = hit.position;
            var _v19 = this.closestPoint1;
            _this74.x = _v19.x;
            _this74.y = _v19.y;
            _this74.z = _v19.z;
            _this74.x += tl1.x * lambda;
            _this74.y += tl1.y * lambda;
            _this74.z += tl1.z * lambda;
            return true;
          }

          dir.x = closest.x;
          dir.y = closest.y;
          dir.z = closest.z;
          dir.x = -dir.x;
          dir.y = -dir.y;
          dir.z = -dir.z;

          if (this.c1 != null) {
            this.computeWitnessPoint1(true);
          } else {
            var _v20 = this.w1[this.simplexSize];
            _v20.x = this.tf1._positionX;
            _v20.y = this.tf1._positionY;
            _v20.z = this.tf1._positionZ;
          }

          this.computeWitnessPoint2(true);
          var _this72 = this.s[this.simplexSize];
          var v4 = this.w1[this.simplexSize];
          _this72.x = v4.x;
          _this72.y = v4.y;
          _this72.z = v4.z;
          var v5 = this.w2[this.simplexSize];
          _this72.x -= v5.x;
          _this72.y -= v5.y;
          _this72.z -= v5.z;
          var _this1 = s[this.simplexSize];
          _this1.x -= rayX.x;
          _this1.y -= rayX.y;
          _this1.z -= rayX.z;

          if (dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-008) {
            throw new Error("!?");
          }

          var p = s[this.simplexSize];
          var pn = p.x * dir.x + p.y * dir.y + p.z * dir.z;

          if (pn < 0) {
            if (rayR.x * dir.x + rayR.y * dir.y + rayR.z * dir.z >= 0) {
              return false;
            }

            var dLambda = pn / (rayR.x * dir.x + rayR.y * dir.y + rayR.z * dir.z);
            lambda += dLambda;

            if (lambda >= 1) {
              return false;
            }

            rayX.x += rayR.x * dLambda;
            rayX.y += rayR.y * dLambda;
            rayX.z += rayR.z * dLambda;
            var _g23 = 0;

            var _g24 = this.simplexSize + 1;

            while (_g23 < _g24) {
              var _this75 = s[_g23++];
              var s1 = -dLambda;
              _this75.x += rayR.x * s1;
              _this75.y += rayR.y * s1;
              _this75.z += rayR.z * s1;
            }
          }

          var duplicate = false;
          var _g = 0;
          var _g1 = this.simplexSize;

          while (_g < _g1) {
            var i = _g++;
            var dx = s[i].x - s[this.simplexSize].x;
            var dy = s[i].y - s[this.simplexSize].y;
            var dz = s[i].z - s[this.simplexSize].z;

            if (dx * dx + dy * dy + dz * dz < 1e-008) {
              duplicate = true;
              break;
            }
          }

          if (!duplicate) {
            this.simplexSize++;
          }

          ++count;
        }

        return false;
      }
    }, {
      key: "interpolateClosestPoints",
      value: function interpolateClosestPoints() {
        switch (this.simplexSize) {
          case 1:
            var _this = this.closestPoint1;
            var v = this.w1[0];
            _this.x = v.x;
            _this.y = v.y;
            _this.z = v.z;
            var _this1 = this.closestPoint2;
            var v1 = this.w2[0];
            _this1.x = v1.x;
            _this1.y = v1.y;
            _this1.z = v1.z;
            break;

          case 2:
            var cX;
            var cY;
            var cZ;
            var v2 = this.closest;
            cX = v2.x;
            cY = v2.y;
            cZ = v2.z;
            var s0X;
            var s0Y;
            var s0Z;
            var w10X;
            var w10Y;
            var w10Z;
            var w20X;
            var w20Y;
            var w20Z;
            var s1X;
            var s1Y;
            var s1Z;
            var w11X;
            var w11Y;
            var w11Z;
            var w21X;
            var w21Y;
            var w21Z;
            var v3 = this.s[0];
            s0X = v3.x;
            s0Y = v3.y;
            s0Z = v3.z;
            var v4 = this.w1[0];
            w10X = v4.x;
            w10Y = v4.y;
            w10Z = v4.z;
            var v5 = this.w2[0];
            w20X = v5.x;
            w20Y = v5.y;
            w20Z = v5.z;
            var v6 = this.s[1];
            s1X = v6.x;
            s1Y = v6.y;
            s1Z = v6.z;
            var v7 = this.w1[1];
            w11X = v7.x;
            w11Y = v7.y;
            w11Z = v7.z;
            var v8 = this.w2[1];
            w21X = v8.x;
            w21Y = v8.y;
            w21Z = v8.z;
            var s01X;
            var s01Y;
            var s01Z;
            s01X = s1X - s0X;
            s01Y = s1Y - s0Y;
            s01Z = s1Z - s0Z;
            var invDet = s01X * s01X + s01Y * s01Y + s01Z * s01Z;

            if (invDet != 0) {
              invDet = 1 / invDet;
            }

            var s0cX;
            var s0cY;
            var s0cZ;
            s0cX = cX - s0X;
            s0cY = cY - s0Y;
            s0cZ = cZ - s0Z;
            var t = (s0cX * s01X + s0cY * s01Y + s0cZ * s01Z) * invDet;
            var diffX;
            var diffY;
            var diffZ;
            var cp1X;
            var cp1Y;
            var cp1Z;
            var cp2X;
            var cp2Y;
            var cp2Z;
            diffX = w11X - w10X;
            diffY = w11Y - w10Y;
            diffZ = w11Z - w10Z;
            cp1X = w10X + diffX * t;
            cp1Y = w10Y + diffY * t;
            cp1Z = w10Z + diffZ * t;
            diffX = w21X - w20X;
            diffY = w21Y - w20Y;
            diffZ = w21Z - w20Z;
            cp2X = w20X + diffX * t;
            cp2Y = w20Y + diffY * t;
            cp2Z = w20Z + diffZ * t;
            var v9 = this.closestPoint1;
            v9.x = cp1X;
            v9.y = cp1Y;
            v9.z = cp1Z;
            var v10 = this.closestPoint2;
            v10.x = cp2X;
            v10.y = cp2Y;
            v10.z = cp2Z;
            break;

          case 3:
            var cX1;
            var cY1;
            var cZ1;
            var v11 = this.closest;
            cX1 = v11.x;
            cY1 = v11.y;
            cZ1 = v11.z;
            var s0X1;
            var s0Y1;
            var s0Z1;
            var w10X1;
            var w10Y1;
            var w10Z1;
            var w20X1;
            var w20Y1;
            var w20Z1;
            var s1X1;
            var s1Y1;
            var s1Z1;
            var w11X1;
            var w11Y1;
            var w11Z1;
            var w21X1;
            var w21Y1;
            var w21Z1;
            var s2X;
            var s2Y;
            var s2Z;
            var w12X;
            var w12Y;
            var w12Z;
            var w22X;
            var w22Y;
            var w22Z;
            var v12 = this.s[0];
            s0X1 = v12.x;
            s0Y1 = v12.y;
            s0Z1 = v12.z;
            var v13 = this.w1[0];
            w10X1 = v13.x;
            w10Y1 = v13.y;
            w10Z1 = v13.z;
            var v14 = this.w2[0];
            w20X1 = v14.x;
            w20Y1 = v14.y;
            w20Z1 = v14.z;
            var v15 = this.s[1];
            s1X1 = v15.x;
            s1Y1 = v15.y;
            s1Z1 = v15.z;
            var v16 = this.w1[1];
            w11X1 = v16.x;
            w11Y1 = v16.y;
            w11Z1 = v16.z;
            var v17 = this.w2[1];
            w21X1 = v17.x;
            w21Y1 = v17.y;
            w21Z1 = v17.z;
            var v18 = this.s[2];
            s2X = v18.x;
            s2Y = v18.y;
            s2Z = v18.z;
            var v19 = this.w1[2];
            w12X = v19.x;
            w12Y = v19.y;
            w12Z = v19.z;
            var v20 = this.w2[2];
            w22X = v20.x;
            w22Y = v20.y;
            w22Z = v20.z;
            var s01X1;
            var s01Y1;
            var s01Z1;
            var s02X;
            var s02Y;
            var s02Z;
            var s0cX1;
            var s0cY1;
            var s0cZ1;
            s01X1 = s1X1 - s0X1;
            s01Y1 = s1Y1 - s0Y1;
            s01Z1 = s1Z1 - s0Z1;
            s02X = s2X - s0X1;
            s02Y = s2Y - s0Y1;
            s02Z = s2Z - s0Z1;
            s0cX1 = cX1 - s0X1;
            s0cY1 = cY1 - s0Y1;
            s0cZ1 = cZ1 - s0Z1;
            var d11 = s01X1 * s01X1 + s01Y1 * s01Y1 + s01Z1 * s01Z1;
            var d12 = s01X1 * s02X + s01Y1 * s02Y + s01Z1 * s02Z;
            var d22 = s02X * s02X + s02Y * s02Y + s02Z * s02Z;
            var d1c = s01X1 * s0cX1 + s01Y1 * s0cY1 + s01Z1 * s0cZ1;
            var d2c = s02X * s0cX1 + s02Y * s0cY1 + s02Z * s0cZ1;
            var invDet1 = d11 * d22 - d12 * d12;

            if (invDet1 != 0) {
              invDet1 = 1 / invDet1;
            }

            var s = (d1c * d22 - d2c * d12) * invDet1;
            var t1 = (-d1c * d12 + d2c * d11) * invDet1;
            var diffX1;
            var diffY1;
            var diffZ1;
            var cp1X1;
            var cp1Y1;
            var cp1Z1;
            var cp2X1;
            var cp2Y1;
            var cp2Z1;
            diffX1 = w11X1 - w10X1;
            diffY1 = w11Y1 - w10Y1;
            diffZ1 = w11Z1 - w10Z1;
            cp1X1 = w10X1 + diffX1 * s;
            cp1Y1 = w10Y1 + diffY1 * s;
            cp1Z1 = w10Z1 + diffZ1 * s;
            diffX1 = w12X - w10X1;
            diffY1 = w12Y - w10Y1;
            diffZ1 = w12Z - w10Z1;
            cp1X1 += diffX1 * t1;
            cp1Y1 += diffY1 * t1;
            cp1Z1 += diffZ1 * t1;
            diffX1 = w21X1 - w20X1;
            diffY1 = w21Y1 - w20Y1;
            diffZ1 = w21Z1 - w20Z1;
            cp2X1 = w20X1 + diffX1 * s;
            cp2Y1 = w20Y1 + diffY1 * s;
            cp2Z1 = w20Z1 + diffZ1 * s;
            diffX1 = w22X - w20X1;
            diffY1 = w22Y - w20Y1;
            diffZ1 = w22Z - w20Z1;
            cp2X1 += diffX1 * t1;
            cp2Y1 += diffY1 * t1;
            cp2Z1 += diffZ1 * t1;
            var v21 = this.closestPoint1;
            v21.x = cp1X1;
            v21.y = cp1Y1;
            v21.z = cp1Z1;
            var v22 = this.closestPoint2;
            v22.x = cp2X1;
            v22.y = cp2Y1;
            v22.z = cp2Z1;
            break;

          default:
            throw new Error("!?");
        }
      }
    }, {
      key: "loadCache",
      value: function loadCache(gjkCache) {
        var _this = this.dir;
        var v = gjkCache.prevClosestDir;
        _this.x = v.x;
        _this.y = v.y;
        _this.z = v.z;
      }
    }, {
      key: "saveCache",
      value: function saveCache(gjkCache) {
        var _this = gjkCache.prevClosestDir;
        var v = this.closest;
        _this.x = v.x;
        _this.y = v.y;
        _this.z = v.z;
        _this.x = -_this.x;
        _this.y = -_this.y;
        _this.z = -_this.z;
      }
    }, {
      key: "shrinkSimplex",
      value: function shrinkSimplex(vertexBits) {
        this.simplexSize = vertexBits;
        this.simplexSize = (this.simplexSize & 5) + (this.simplexSize >> 1 & 5);
        this.simplexSize = (this.simplexSize & 3) + (this.simplexSize >> 2 & 3);

        switch (vertexBits) {
          case 2:
            var _this = this.s[0];
            var v = this.s[1];
            _this.x = v.x;
            _this.y = v.y;
            _this.z = v.z;
            var _this1 = this.w1[0];
            var v1 = this.w1[1];
            _this1.x = v1.x;
            _this1.y = v1.y;
            _this1.z = v1.z;
            var _this2 = this.w2[0];
            var v2 = this.w2[1];
            _this2.x = v2.x;
            _this2.y = v2.y;
            _this2.z = v2.z;
            break;

          case 4:
            var _this3 = this.s[0];
            var v3 = this.s[2];
            _this3.x = v3.x;
            _this3.y = v3.y;
            _this3.z = v3.z;
            var _this4 = this.w1[0];
            var v4 = this.w1[2];
            _this4.x = v4.x;
            _this4.y = v4.y;
            _this4.z = v4.z;
            var _this5 = this.w2[0];
            var v5 = this.w2[2];
            _this5.x = v5.x;
            _this5.y = v5.y;
            _this5.z = v5.z;
            break;

          case 5:
            var _this6 = this.s[1];
            var v6 = this.s[2];
            _this6.x = v6.x;
            _this6.y = v6.y;
            _this6.z = v6.z;
            var _this7 = this.w1[1];
            var v7 = this.w1[2];
            _this7.x = v7.x;
            _this7.y = v7.y;
            _this7.z = v7.z;
            var _this8 = this.w2[1];
            var v8 = this.w2[2];
            _this8.x = v8.x;
            _this8.y = v8.y;
            _this8.z = v8.z;
            break;

          case 6:
            var _this9 = this.s[0];
            var v9 = this.s[2];
            _this9.x = v9.x;
            _this9.y = v9.y;
            _this9.z = v9.z;
            var _this10 = this.w1[0];
            var v10 = this.w1[2];
            _this10.x = v10.x;
            _this10.y = v10.y;
            _this10.z = v10.z;
            var _this11 = this.w2[0];
            var v11 = this.w2[2];
            _this11.x = v11.x;
            _this11.y = v11.y;
            _this11.z = v11.z;
            break;

          case 8:
            var _this12 = this.s[0];
            var v12 = this.s[3];
            _this12.x = v12.x;
            _this12.y = v12.y;
            _this12.z = v12.z;
            var _this13 = this.w1[0];
            var v13 = this.w1[3];
            _this13.x = v13.x;
            _this13.y = v13.y;
            _this13.z = v13.z;
            var _this14 = this.w2[0];
            var v14 = this.w2[3];
            _this14.x = v14.x;
            _this14.y = v14.y;
            _this14.z = v14.z;
            break;

          case 9:
            var _this15 = this.s[1];
            var v15 = this.s[3];
            _this15.x = v15.x;
            _this15.y = v15.y;
            _this15.z = v15.z;
            var _this16 = this.w1[1];
            var v16 = this.w1[3];
            _this16.x = v16.x;
            _this16.y = v16.y;
            _this16.z = v16.z;
            var _this17 = this.w2[1];
            var v17 = this.w2[3];
            _this17.x = v17.x;
            _this17.y = v17.y;
            _this17.z = v17.z;
            break;

          case 10:
            var _this18 = this.s[0];
            var v18 = this.s[3];
            _this18.x = v18.x;
            _this18.y = v18.y;
            _this18.z = v18.z;
            var _this19 = this.w1[0];
            var v19 = this.w1[3];
            _this19.x = v19.x;
            _this19.y = v19.y;
            _this19.z = v19.z;
            var _this20 = this.w2[0];
            var v20 = this.w2[3];
            _this20.x = v20.x;
            _this20.y = v20.y;
            _this20.z = v20.z;
            break;

          case 11:
            var _this21 = this.s[2];
            var v21 = this.s[3];
            _this21.x = v21.x;
            _this21.y = v21.y;
            _this21.z = v21.z;
            var _this22 = this.w1[2];
            var v22 = this.w1[3];
            _this22.x = v22.x;
            _this22.y = v22.y;
            _this22.z = v22.z;
            var _this23 = this.w2[2];
            var v23 = this.w2[3];
            _this23.x = v23.x;
            _this23.y = v23.y;
            _this23.z = v23.z;
            break;

          case 12:
            var _this24 = this.s[0];
            var v24 = this.s[2];
            _this24.x = v24.x;
            _this24.y = v24.y;
            _this24.z = v24.z;
            var _this25 = this.w1[0];
            var v25 = this.w1[2];
            _this25.x = v25.x;
            _this25.y = v25.y;
            _this25.z = v25.z;
            var _this26 = this.w2[0];
            var v26 = this.w2[2];
            _this26.x = v26.x;
            _this26.y = v26.y;
            _this26.z = v26.z;
            var _this27 = this.s[1];
            var v27 = this.s[3];
            _this27.x = v27.x;
            _this27.y = v27.y;
            _this27.z = v27.z;
            var _this28 = this.w1[1];
            var v28 = this.w1[3];
            _this28.x = v28.x;
            _this28.y = v28.y;
            _this28.z = v28.z;
            var _this29 = this.w2[1];
            var v29 = this.w2[3];
            _this29.x = v29.x;
            _this29.y = v29.y;
            _this29.z = v29.z;
            break;

          case 13:
            var _this30 = this.s[1];
            var v30 = this.s[3];
            _this30.x = v30.x;
            _this30.y = v30.y;
            _this30.z = v30.z;
            var _this31 = this.w1[1];
            var v31 = this.w1[3];
            _this31.x = v31.x;
            _this31.y = v31.y;
            _this31.z = v31.z;
            var _this32 = this.w2[1];
            var v32 = this.w2[3];
            _this32.x = v32.x;
            _this32.y = v32.y;
            _this32.z = v32.z;
            break;

          case 14:
            var _this33 = this.s[0];
            var v33 = this.s[3];
            _this33.x = v33.x;
            _this33.y = v33.y;
            _this33.z = v33.z;
            var _this34 = this.w1[0];
            var v34 = this.w1[3];
            _this34.x = v34.x;
            _this34.y = v34.y;
            _this34.z = v34.z;
            var _this35 = this.w2[0];
            var v35 = this.w2[3];
            _this35.x = v35.x;
            _this35.y = v35.y;
            _this35.z = v35.z;
            break;
        }
      }
    }, {
      key: "computeWitnessPoint1",
      value: function computeWitnessPoint1(addMargin) {
        var tmpX;
        var tmpY;
        var tmpZ;
        var idirX;
        var idirY;
        var idirZ;
        var v = this.dir;
        idirX = v.x;
        idirY = v.y;
        idirZ = v.z;
        var ldir1X;
        var ldir1Y;
        var ldir1Z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this.tf1._rotation00 * idirX + this.tf1._rotation10 * idirY + this.tf1._rotation20 * idirZ;
        __tmp__Y = this.tf1._rotation01 * idirX + this.tf1._rotation11 * idirY + this.tf1._rotation21 * idirZ;
        __tmp__Z = this.tf1._rotation02 * idirX + this.tf1._rotation12 * idirY + this.tf1._rotation22 * idirZ;
        ldir1X = __tmp__X;
        ldir1Y = __tmp__Y;
        ldir1Z = __tmp__Z;
        var iw1X;
        var iw1Y;
        var iw1Z;
        var v1 = this.dir;
        v1.x = ldir1X;
        v1.y = ldir1Y;
        v1.z = ldir1Z;
        this.c1.computeLocalSupportingVertex(this.dir, this.w1[this.simplexSize]);

        if (addMargin) {
          var _this = this.dir;
          var invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);

          if (invLen > 0) {
            invLen = 1 / invLen;
          }

          _this.x *= invLen;
          _this.y *= invLen;
          _this.z *= invLen;
          var _this1 = this.w1[this.simplexSize];
          var _v21 = this.dir;
          var s = this.c1._gjkMargin;
          _this1.x += _v21.x * s;
          _this1.y += _v21.y * s;
          _this1.z += _v21.z * s;
        }

        var v2 = this.w1[this.simplexSize];
        tmpX = v2.x;
        tmpY = v2.y;
        tmpZ = v2.z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = this.tf1._rotation00 * tmpX + this.tf1._rotation01 * tmpY + this.tf1._rotation02 * tmpZ;
        __tmp__Y1 = this.tf1._rotation10 * tmpX + this.tf1._rotation11 * tmpY + this.tf1._rotation12 * tmpZ;
        __tmp__Z1 = this.tf1._rotation20 * tmpX + this.tf1._rotation21 * tmpY + this.tf1._rotation22 * tmpZ;
        iw1X = __tmp__X1;
        iw1Y = __tmp__Y1;
        iw1Z = __tmp__Z1;
        iw1X += this.tf1._positionX;
        iw1Y += this.tf1._positionY;
        iw1Z += this.tf1._positionZ;
        var v3 = this.w1[this.simplexSize];
        v3.x = iw1X;
        v3.y = iw1Y;
        v3.z = iw1Z;
        var v4 = this.dir;
        v4.x = idirX;
        v4.y = idirY;
        v4.z = idirZ;
      }
    }, {
      key: "computeWitnessPoint2",
      value: function computeWitnessPoint2(addMargin) {
        var tmpX;
        var tmpY;
        var tmpZ;
        var idirX;
        var idirY;
        var idirZ;
        var v = this.dir;
        idirX = v.x;
        idirY = v.y;
        idirZ = v.z;
        var ldir2X;
        var ldir2Y;
        var ldir2Z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this.tf2._rotation00 * idirX + this.tf2._rotation10 * idirY + this.tf2._rotation20 * idirZ;
        __tmp__Y = this.tf2._rotation01 * idirX + this.tf2._rotation11 * idirY + this.tf2._rotation21 * idirZ;
        __tmp__Z = this.tf2._rotation02 * idirX + this.tf2._rotation12 * idirY + this.tf2._rotation22 * idirZ;
        ldir2X = __tmp__X;
        ldir2Y = __tmp__Y;
        ldir2Z = __tmp__Z;
        ldir2X = -ldir2X;
        ldir2Y = -ldir2Y;
        ldir2Z = -ldir2Z;
        var iw2X;
        var iw2Y;
        var iw2Z;
        var v1 = this.dir;
        v1.x = ldir2X;
        v1.y = ldir2Y;
        v1.z = ldir2Z;
        this.c2.computeLocalSupportingVertex(this.dir, this.w2[this.simplexSize]);

        if (addMargin) {
          var _this = this.dir;
          var invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);

          if (invLen > 0) {
            invLen = 1 / invLen;
          }

          _this.x *= invLen;
          _this.y *= invLen;
          _this.z *= invLen;
          var _this1 = this.w2[this.simplexSize];
          var _v22 = this.dir;
          var s = this.c2._gjkMargin;
          _this1.x += _v22.x * s;
          _this1.y += _v22.y * s;
          _this1.z += _v22.z * s;
        }

        var v2 = this.w2[this.simplexSize];
        tmpX = v2.x;
        tmpY = v2.y;
        tmpZ = v2.z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = this.tf2._rotation00 * tmpX + this.tf2._rotation01 * tmpY + this.tf2._rotation02 * tmpZ;
        __tmp__Y1 = this.tf2._rotation10 * tmpX + this.tf2._rotation11 * tmpY + this.tf2._rotation12 * tmpZ;
        __tmp__Z1 = this.tf2._rotation20 * tmpX + this.tf2._rotation21 * tmpY + this.tf2._rotation22 * tmpZ;
        iw2X = __tmp__X1;
        iw2Y = __tmp__Y1;
        iw2Z = __tmp__Z1;
        iw2X += this.tf2._positionX;
        iw2Y += this.tf2._positionY;
        iw2Z += this.tf2._positionZ;
        var v3 = this.w2[this.simplexSize];
        v3.x = iw2X;
        v3.y = iw2Y;
        v3.z = iw2Z;
        var v4 = this.dir;
        v4.x = idirX;
        v4.y = idirY;
        v4.z = idirZ;
      }
    }, {
      key: "pointToTetrahedron",
      value: function pointToTetrahedron() {
        var _g = 0;

        while (_g < 3) {
          var _this = this.dir;
          var v = this.baseDirs[_g++];
          _this.x = v.x;
          _this.y = v.y;
          _this.z = v.z;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this1 = this.s[this.simplexSize];
          var v1 = this.w1[this.simplexSize];
          _this1.x = v1.x;
          _this1.y = v1.y;
          _this1.z = v1.z;
          var v2 = this.w2[this.simplexSize];
          _this1.x -= v2.x;
          _this1.y -= v2.y;
          _this1.z -= v2.z;
          this.simplexSize++;
          this.lineToTetrahedron();

          if (this.simplexSize == 4) {
            break;
          }

          this.simplexSize--;
          var _this2 = this.dir;
          _this2.x = -_this2.x;
          _this2.y = -_this2.y;
          _this2.z = -_this2.z;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this3 = this.s[this.simplexSize];
          var v3 = this.w1[this.simplexSize];
          _this3.x = v3.x;
          _this3.y = v3.y;
          _this3.z = v3.z;
          var v4 = this.w2[this.simplexSize];
          _this3.x -= v4.x;
          _this3.y -= v4.y;
          _this3.z -= v4.z;
          this.simplexSize++;
          this.lineToTetrahedron();

          if (this.simplexSize == 4) {
            break;
          }

          this.simplexSize--;
        }
      }
    }, {
      key: "lineToTetrahedron",
      value: function lineToTetrahedron() {
        var oldDirX;
        var oldDirY;
        var oldDirZ;
        var v = this.dir;
        oldDirX = v.x;
        oldDirY = v.y;
        oldDirZ = v.z;
        var s0X;
        var s0Y;
        var s0Z;
        var s1X;
        var s1Y;
        var s1Z;
        var lineDirX;
        var lineDirY;
        var lineDirZ;
        var v1 = this.s[0];
        s0X = v1.x;
        s0Y = v1.y;
        s0Z = v1.z;
        var v2 = this.s[1];
        s1X = v2.x;
        s1Y = v2.y;
        s1Z = v2.z;
        lineDirX = s0X - s1X;
        lineDirY = s0Y - s1Y;
        lineDirZ = s0Z - s1Z;
        var _g = 0;

        while (_g < 3) {
          var baseDirX = void 0;
          var baseDirY = void 0;
          var baseDirZ = void 0;
          var _v23 = this.baseDirs[_g++];
          baseDirX = _v23.x;
          baseDirY = _v23.y;
          baseDirZ = _v23.z;
          var newDirX = void 0;
          var newDirY = void 0;
          var newDirZ = void 0;
          newDirX = lineDirY * baseDirZ - lineDirZ * baseDirY;
          newDirY = lineDirZ * baseDirX - lineDirX * baseDirZ;
          newDirZ = lineDirX * baseDirY - lineDirY * baseDirX;
          var _v24 = this.dir;
          _v24.x = newDirX;
          _v24.y = newDirY;
          _v24.z = newDirZ;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this = this.s[this.simplexSize];
          var _v25 = this.w1[this.simplexSize];
          _this.x = _v25.x;
          _this.y = _v25.y;
          _this.z = _v25.z;
          var _v26 = this.w2[this.simplexSize];
          _this.x -= _v26.x;
          _this.y -= _v26.y;
          _this.z -= _v26.z;
          this.simplexSize++;
          this.triangleToTetrahedron();

          if (this.simplexSize == 4) {
            break;
          }

          this.simplexSize--;
          var _this1 = this.dir;
          _this1.x = -_this1.x;
          _this1.y = -_this1.y;
          _this1.z = -_this1.z;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this2 = this.s[this.simplexSize];
          var v4 = this.w1[this.simplexSize];
          _this2.x = v4.x;
          _this2.y = v4.y;
          _this2.z = v4.z;
          var v5 = this.w2[this.simplexSize];
          _this2.x -= v5.x;
          _this2.y -= v5.y;
          _this2.z -= v5.z;
          this.simplexSize++;
          this.triangleToTetrahedron();

          if (this.simplexSize == 4) {
            break;
          }

          this.simplexSize--;
        }

        var v3 = this.dir;
        v3.x = oldDirX;
        v3.y = oldDirY;
        v3.z = oldDirZ;
      }
    }, {
      key: "triangleToTetrahedron",
      value: function triangleToTetrahedron() {
        var oldDirX;
        var oldDirY;
        var oldDirZ;
        var v = this.dir;
        oldDirX = v.x;
        oldDirY = v.y;
        oldDirZ = v.z;

        while (true) {
          var s0X = void 0;
          var s0Y = void 0;
          var s0Z = void 0;
          var s1X = void 0;
          var s1Y = void 0;
          var s1Z = void 0;
          var s2X = void 0;
          var s2Y = void 0;
          var s2Z = void 0;
          var s01X = void 0;
          var s01Y = void 0;
          var s01Z = void 0;
          var s02X = void 0;
          var s02Y = void 0;
          var s02Z = void 0;
          var _v27 = this.s[0];
          s0X = _v27.x;
          s0Y = _v27.y;
          s0Z = _v27.z;
          var _v28 = this.s[1];
          s1X = _v28.x;
          s1Y = _v28.y;
          s1Z = _v28.z;
          var v2 = this.s[2];
          s2X = v2.x;
          s2Y = v2.y;
          s2Z = v2.z;
          s01X = s1X - s0X;
          s01Y = s1Y - s0Y;
          s01Z = s1Z - s0Z;
          s02X = s2X - s0X;
          s02Y = s2Y - s0Y;
          s02Z = s2Z - s0Z;
          var nX = void 0;
          var nY = void 0;
          var nZ = void 0;
          nX = s01Y * s02Z - s01Z * s02Y;
          nY = s01Z * s02X - s01X * s02Z;
          nZ = s01X * s02Y - s01Y * s02X;
          var v3 = this.dir;
          v3.x = nX;
          v3.y = nY;
          v3.z = nZ;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this = this.s[this.simplexSize];
          var v4 = this.w1[this.simplexSize];
          _this.x = v4.x;
          _this.y = v4.y;
          _this.z = v4.z;
          var v5 = this.w2[this.simplexSize];
          _this.x -= v5.x;
          _this.y -= v5.y;
          _this.z -= v5.z;
          this.simplexSize++;

          if (this.isValidTetrahedron()) {
            break;
          }

          this.simplexSize--;
          var _this1 = this.dir;
          _this1.x = -_this1.x;
          _this1.y = -_this1.y;
          _this1.z = -_this1.z;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this2 = this.s[this.simplexSize];
          var v6 = this.w1[this.simplexSize];
          _this2.x = v6.x;
          _this2.y = v6.y;
          _this2.z = v6.z;
          var v7 = this.w2[this.simplexSize];
          _this2.x -= v7.x;
          _this2.y -= v7.y;
          _this2.z -= v7.z;
          this.simplexSize++;

          if (this.isValidTetrahedron()) {
            break;
          }

          this.simplexSize--;
          break;
        }

        var v1 = this.dir;
        v1.x = oldDirX;
        v1.y = oldDirY;
        v1.z = oldDirZ;
      }
    }, {
      key: "isValidTetrahedron",
      value: function isValidTetrahedron() {
        var e10 = this.s[2].x - this.s[0].x;
        var e11 = this.s[2].y - this.s[0].y;
        var e12 = this.s[2].z - this.s[0].z;
        var e20 = this.s[3].x - this.s[0].x;
        var e21 = this.s[3].y - this.s[0].y;
        var e22 = this.s[3].z - this.s[0].z;
        var det = (this.s[1].x - this.s[0].x) * (e11 * e22 - e12 * e21) - (this.s[1].y - this.s[0].y) * (e10 * e22 - e12 * e20) + (this.s[1].z - this.s[0].z) * (e10 * e21 - e11 * e20);

        if (!(det > 1e-12)) {
          return det < -1e-12;
        } else {
          return true;
        }
      }
    }, {
      key: "computeDepth",
      value: function computeDepth(convex1, convex2, tf1, tf2, initialPolyhedron, initialPolyhedron1, initialPolyhedron2) {
        var _this = this.polyhedron;

        while (_this._numTriangles > 0) {
          var t = _this._triangleList;
          _this._numTriangles--;
          var prev = t._prev;
          var next = t._next;

          if (prev != null) {
            prev._next = next;
          }

          if (next != null) {
            next._prev = prev;
          }

          if (t == _this._triangleList) {
            _this._triangleList = _this._triangleList._next;
          }

          if (t == _this._triangleListLast) {
            _this._triangleListLast = _this._triangleListLast._prev;
          }

          t._next = null;
          t._prev = null;
          t.removeReferences();
          t._next = _this._trianglePool;
          _this._trianglePool = t;
        }

        while (_this._numVertices > 0) {
          var v = _this._vertices[--_this._numVertices];
          v.removeReferences();
          v._next = _this._vertexPool;
          _this._vertexPool = v;
        }

        var tmp = this.polyhedron;
        var _this1 = this.polyhedron;
        var first = _this1._vertexPool;

        if (first != null) {
          _this1._vertexPool = first._next;
          first._next = null;
        } else {
          first = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
        }

        var tmp1 = first.init(initialPolyhedron[0], initialPolyhedron1[0], initialPolyhedron2[0]);
        var _this2 = this.polyhedron;
        var first1 = _this2._vertexPool;

        if (first1 != null) {
          _this2._vertexPool = first1._next;
          first1._next = null;
        } else {
          first1 = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
        }

        var tmp2 = first1.init(initialPolyhedron[1], initialPolyhedron1[1], initialPolyhedron2[1]);
        var _this3 = this.polyhedron;
        var first2 = _this3._vertexPool;

        if (first2 != null) {
          _this3._vertexPool = first2._next;
          first2._next = null;
        } else {
          first2 = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
        }

        var tmp3 = first2.init(initialPolyhedron[2], initialPolyhedron1[2], initialPolyhedron2[2]);
        var _this4 = this.polyhedron;
        var first3 = _this4._vertexPool;

        if (first3 != null) {
          _this4._vertexPool = first3._next;
          first3._next = null;
        } else {
          first3 = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
        }

        if (!tmp._init(tmp1, tmp2, tmp3, first3.init(initialPolyhedron[3], initialPolyhedron1[3], initialPolyhedron2[3]))) {
          return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_INIT;
        }

        this.simplexSize = 0;
        var supportingVertex = this.s[0];
        var witness1 = this.w1[0];
        var witness2 = this.w2[0];
        var count = 0;

        while (count < 40) {
          var f = this.polyhedron._triangleList;
          var mind = 1e65536;
          var minf = null;

          while (f != null) {
            if (f._distanceSq < mind) {
              mind = f._distanceSq;
              minf = f;
            }

            f = f._next;
          }

          var face = minf;
          var _this76 = this.dir;
          var _v29 = face._normal;
          _this76.x = _v29.x;
          _this76.y = _v29.y;
          _this76.z = _v29.z;
          var invLen = Math.sqrt(_this76.x * _this76.x + _this76.y * _this76.y + _this76.z * _this76.z);

          if (invLen > 0) {
            invLen = 1 / invLen;
          }

          _this76.x *= invLen;
          _this76.y *= invLen;
          _this76.z *= invLen;
          this.computeWitnessPoint1(false);
          this.computeWitnessPoint2(false);
          var _this77 = this.s[this.simplexSize];
          var v1 = this.w1[this.simplexSize];
          _this77.x = v1.x;
          _this77.y = v1.y;
          _this77.z = v1.z;
          var v2 = this.w2[this.simplexSize];
          _this77.x -= v2.x;
          _this77.y -= v2.y;
          _this77.z -= v2.z;
          var v0 = face._vertices[0];
          var v11 = face._vertices[1];
          var v21 = face._vertices[2];
          var _this78 = v0.v;
          var v3 = this.dir;
          var v4 = this.dir;

          if (supportingVertex.x * v4.x + supportingVertex.y * v4.y + supportingVertex.z * v4.z - (_this78.x * v3.x + _this78.y * v3.y + _this78.z * v3.z) < 1e-6 || count == 39) {
            var _this80 = this.closest;
            var _v30 = this.dir;
            _this80.x = _v30.x;
            _this80.y = _v30.y;
            _this80.z = _v30.z;
            var _this81 = this.dir;
            var _v31 = v0.v;
            var _this82 = this.dir;
            var s = (_this81.x * _v31.x + _this81.y * _v31.y + _this81.z * _v31.z) / (_this82.x * _this82.x + _this82.y * _this82.y + _this82.z * _this82.z);
            _this80.x *= s;
            _this80.y *= s;
            _this80.z *= s;
            var cX = void 0;
            var cY = void 0;
            var cZ = void 0;
            var _v32 = this.closest;
            cX = _v32.x;
            cY = _v32.y;
            cZ = _v32.z;
            var s0X = void 0;
            var s0Y = void 0;
            var s0Z = void 0;
            var w10X = void 0;
            var w10Y = void 0;
            var w10Z = void 0;
            var w20X = void 0;
            var w20Y = void 0;
            var w20Z = void 0;
            var s1X = void 0;
            var s1Y = void 0;
            var s1Z = void 0;
            var w11X = void 0;
            var w11Y = void 0;
            var w11Z = void 0;
            var w21X = void 0;
            var w21Y = void 0;
            var w21Z = void 0;
            var s2X = void 0;
            var s2Y = void 0;
            var s2Z = void 0;
            var w12X = void 0;
            var w12Y = void 0;
            var w12Z = void 0;
            var w22X = void 0;
            var w22Y = void 0;
            var w22Z = void 0;
            var _v33 = v0.v;
            s0X = _v33.x;
            s0Y = _v33.y;
            s0Z = _v33.z;
            var _v34 = v0.w1;
            w10X = _v34.x;
            w10Y = _v34.y;
            w10Z = _v34.z;
            var v5 = v0.w2;
            w20X = v5.x;
            w20Y = v5.y;
            w20Z = v5.z;
            var v6 = v11.v;
            s1X = v6.x;
            s1Y = v6.y;
            s1Z = v6.z;
            var v7 = v11.w1;
            w11X = v7.x;
            w11Y = v7.y;
            w11Z = v7.z;
            var v8 = v11.w2;
            w21X = v8.x;
            w21Y = v8.y;
            w21Z = v8.z;
            var v9 = v21.v;
            s2X = v9.x;
            s2Y = v9.y;
            s2Z = v9.z;
            var v10 = v21.w1;
            w12X = v10.x;
            w12Y = v10.y;
            w12Z = v10.z;
            var v12 = v21.w2;
            w22X = v12.x;
            w22Y = v12.y;
            w22Z = v12.z;
            var s01X = void 0;
            var s01Y = void 0;
            var s01Z = void 0;
            var s02X = void 0;
            var s02Y = void 0;
            var s02Z = void 0;
            var s0cX = void 0;
            var s0cY = void 0;
            var s0cZ = void 0;
            s01X = s1X - s0X;
            s01Y = s1Y - s0Y;
            s01Z = s1Z - s0Z;
            s02X = s2X - s0X;
            s02Y = s2Y - s0Y;
            s02Z = s2Z - s0Z;
            s0cX = cX - s0X;
            s0cY = cY - s0Y;
            s0cZ = cZ - s0Z;
            var d11 = s01X * s01X + s01Y * s01Y + s01Z * s01Z;
            var d12 = s01X * s02X + s01Y * s02Y + s01Z * s02Z;
            var d22 = s02X * s02X + s02Y * s02Y + s02Z * s02Z;
            var d1c = s01X * s0cX + s01Y * s0cY + s01Z * s0cZ;
            var d2c = s02X * s0cX + s02Y * s0cY + s02Z * s0cZ;
            var invDet = d11 * d22 - d12 * d12;

            if (invDet != 0) {
              invDet = 1 / invDet;
            }

            var s1 = (d1c * d22 - d2c * d12) * invDet;

            var _t44 = (-d1c * d12 + d2c * d11) * invDet;

            var diffX = void 0;
            var diffY = void 0;
            var diffZ = void 0;
            var cp1X = void 0;
            var cp1Y = void 0;
            var cp1Z = void 0;
            var cp2X = void 0;
            var cp2Y = void 0;
            var cp2Z = void 0;
            diffX = w11X - w10X;
            diffY = w11Y - w10Y;
            diffZ = w11Z - w10Z;
            cp1X = w10X + diffX * s1;
            cp1Y = w10Y + diffY * s1;
            cp1Z = w10Z + diffZ * s1;
            diffX = w12X - w10X;
            diffY = w12Y - w10Y;
            diffZ = w12Z - w10Z;
            cp1X += diffX * _t44;
            cp1Y += diffY * _t44;
            cp1Z += diffZ * _t44;
            diffX = w21X - w20X;
            diffY = w21Y - w20Y;
            diffZ = w21Z - w20Z;
            cp2X = w20X + diffX * s1;
            cp2Y = w20Y + diffY * s1;
            cp2Z = w20Z + diffZ * s1;
            diffX = w22X - w20X;
            diffY = w22Y - w20Y;
            diffZ = w22Z - w20Z;
            cp2X += diffX * _t44;
            cp2Y += diffY * _t44;
            cp2Z += diffZ * _t44;
            var v13 = this.closestPoint1;
            v13.x = cp1X;
            v13.y = cp1Y;
            v13.z = cp1Z;
            var v14 = this.closestPoint2;
            v14.x = cp2X;
            v14.y = cp2Y;
            v14.z = cp2Z;
            var _this83 = this.closest;
            this.depth = Math.sqrt(_this83.x * _this83.x + _this83.y * _this83.y + _this83.z * _this83.z);
            return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.SUCCEEDED;
          }

          var _this79 = this.polyhedron;
          var _first3 = _this79._vertexPool;

          if (_first3 != null) {
            _this79._vertexPool = _first3._next;
            _first3._next = null;
          } else {
            _first3 = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
          }

          var epaVertex = _first3.init(supportingVertex, witness1, witness2);

          if (!this.polyhedron._addVertex(epaVertex, face)) {
            return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_ADD_VERTEX;
          }

          ++count;
        }

        return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_DID_NOT_CONVERGE;
      }
    }, {
      key: "computeClosestPoints",
      value: function computeClosestPoints(c1, c2, tf1, tf2, cache) {
        return this.computeClosestPointsImpl(c1, c2, tf1, tf2, cache, true);
      }
    }, {
      key: "computeDistance",
      value: function computeDistance(c1, c2, tf1, tf2, cache) {
        return this.computeClosestPointsImpl(c1, c2, tf1, tf2, cache, false);
      }
    }, {
      key: "convexCast",
      value: function convexCast(c1, c2, tf1, tf2, tl1, tl2, hit) {
        return this.convexCastImpl(c1, c2, tf1, tf2, tl1, tl2, hit);
      }
    }, {
      key: "rayCast",
      value: function rayCast(c, tf, begin, end, hit) {
        var tf1 = this.tempTransform;
        tf1._positionX = begin.x;
        tf1._positionY = begin.y;
        tf1._positionZ = begin.z;
        var tl1 = this.tl1;
        var tl2 = this.tl2;
        tl1.x = end.x;
        tl1.y = end.y;
        tl1.z = end.z;
        tl1.x -= begin.x;
        tl1.y -= begin.y;
        tl1.z -= begin.z;
        tl2.zero();
        return this.convexCastImpl(null, c, tf1, tf, tl1, tl2, hit);
      }
    }], [{
      key: "getInstance",
      value: function getInstance() {
        return oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;
      }
    }]);

    return oimo_collision_narrowphase_detector_gjkepa_GjkEpa;
  }();

  oimo.collision.narrowphase.detector.gjkepa.GjkEpaLog = /*#__PURE__*/_createClass(function oimo_collision_narrowphase_detector_gjkepa_GjkEpaLog() {
    _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_GjkEpaLog);
  });
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState = /*#__PURE__*/_createClass(function oimo_collision_narrowphase_detector_gjkepa_GjkEpaResultState() {
    _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_GjkEpaResultState);
  });

  oimo.collision.narrowphase.detector.gjkepa.SimplexUtil = /*#__PURE__*/function () {
    function oimo_collision_narrowphase_detector_gjkepa_SimplexUtil() {
      _classCallCheck(this, oimo_collision_narrowphase_detector_gjkepa_SimplexUtil);
    }

    _createClass(oimo_collision_narrowphase_detector_gjkepa_SimplexUtil, null, [{
      key: "projectOrigin2",
      value: function projectOrigin2(vec1, vec2, out) {
        var v1X;
        var v1Y;
        var v1Z;
        var v2X;
        var v2Y;
        var v2Z;
        v1X = vec1.x;
        v1Y = vec1.y;
        v1Z = vec1.z;
        v2X = vec2.x;
        v2Y = vec2.y;
        v2Z = vec2.z;
        var v12X;
        var v12Y;
        var v12Z;
        v12X = v2X - v1X;
        v12Y = v2Y - v1Y;
        v12Z = v2Z - v1Z;
        var t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
        t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);

        if (t < 0) {
          out.x = v1X;
          out.y = v1Y;
          out.z = v1Z;
          return 1;
        }

        if (t > 1) {
          out.x = v2X;
          out.y = v2Y;
          out.z = v2Z;
          return 2;
        }

        var pX;
        var pY;
        var pZ;
        pX = v1X + v12X * t;
        pY = v1Y + v12Y * t;
        pZ = v1Z + v12Z * t;
        out.x = pX;
        out.y = pY;
        out.z = pZ;
        return 3;
      }
    }, {
      key: "projectOrigin3",
      value: function projectOrigin3(vec1, vec2, vec3, out) {
        var v1X;
        var v1Y;
        var v1Z;
        var v2X;
        var v2Y;
        var v2Z;
        var v3X;
        var v3Y;
        var v3Z;
        var v12X;
        var v12Y;
        var v12Z;
        var v23X;
        var v23Y;
        var v23Z;
        var v31X;
        var v31Y;
        var v31Z;
        v1X = vec1.x;
        v1Y = vec1.y;
        v1Z = vec1.z;
        v2X = vec2.x;
        v2Y = vec2.y;
        v2Z = vec2.z;
        v3X = vec3.x;
        v3Y = vec3.y;
        v3Z = vec3.z;
        v12X = v2X - v1X;
        v12Y = v2Y - v1Y;
        v12Z = v2Z - v1Z;
        v23X = v3X - v2X;
        v23Y = v3Y - v2Y;
        v23Z = v3Z - v2Z;
        v31X = v1X - v3X;
        v31Y = v1Y - v3Y;
        v31Z = v1Z - v3Z;
        var nX;
        var nY;
        var nZ;
        nX = v12Y * v23Z - v12Z * v23Y;
        nY = v12Z * v23X - v12X * v23Z;
        nZ = v12X * v23Y - v12Y * v23X;
        var n12X;
        var n12Y;
        var n12Z;
        var n23X;
        var n23Y;
        var n23Z;
        var n31X;
        var n31Y;
        var n31Z;
        n12X = v12Y * nZ - v12Z * nY;
        n12Y = v12Z * nX - v12X * nZ;
        n12Z = v12X * nY - v12Y * nX;
        n23X = v23Y * nZ - v23Z * nY;
        n23Y = v23Z * nX - v23X * nZ;
        n23Z = v23X * nY - v23Y * nX;
        n31X = v31Y * nZ - v31Z * nY;
        n31Y = v31Z * nX - v31X * nZ;
        n31Z = v31X * nY - v31Y * nX;
        var mind = -1;
        var minvX;
        var minvY;
        var minvZ;
        var mini = 0;
        minvX = 0;
        minvY = 0;
        minvZ = 0;

        if (v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
          var _v1X42;

          var _v1Y42;

          var _v1Z42;

          var _v2X42;

          var _v2Y42;

          var _v2Z42;

          _v1X42 = vec1.x;
          _v1Y42 = vec1.y;
          _v1Z42 = vec1.z;
          _v2X42 = vec2.x;
          _v2Y42 = vec2.y;
          _v2Z42 = vec2.z;

          var _v12X42;

          var _v12Y42;

          var _v12Z42;

          _v12X42 = _v2X42 - _v1X42;
          _v12Y42 = _v2Y42 - _v1Y42;
          _v12Z42 = _v2Z42 - _v1Z42;
          var t = _v12X42 * _v1X42 + _v12Y42 * _v1Y42 + _v12Z42 * _v1Z42;
          t = -t / (_v12X42 * _v12X42 + _v12Y42 * _v12Y42 + _v12Z42 * _v12Z42);
          var b;

          if (t < 0) {
            out.x = _v1X42;
            out.y = _v1Y42;
            out.z = _v1Z42;
            b = 1;
          } else if (t > 1) {
            out.x = _v2X42;
            out.y = _v2Y42;
            out.z = _v2Z42;
            b = 2;
          } else {
            var pX;
            var pY;
            var pZ;
            pX = _v1X42 + _v12X42 * t;
            pY = _v1Y42 + _v12Y42 * t;
            pZ = _v1Z42 + _v12Z42 * t;
            out.x = pX;
            out.y = pY;
            out.z = pZ;
            b = 3;
          }

          mini = b;
          mind = out.x * out.x + out.y * out.y + out.z * out.z;
          minvX = out.x;
          minvY = out.y;
          minvZ = out.z;
        }

        if (v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
          var _v1X43;

          var _v1Y43;

          var _v1Z43;

          var _v2X43;

          var _v2Y43;

          var _v2Z43;

          _v1X43 = vec2.x;
          _v1Y43 = vec2.y;
          _v1Z43 = vec2.z;
          _v2X43 = vec3.x;
          _v2Y43 = vec3.y;
          _v2Z43 = vec3.z;

          var _v12X43;

          var _v12Y43;

          var _v12Z43;

          _v12X43 = _v2X43 - _v1X43;
          _v12Y43 = _v2Y43 - _v1Y43;
          _v12Z43 = _v2Z43 - _v1Z43;

          var _t45 = _v12X43 * _v1X43 + _v12Y43 * _v1Y43 + _v12Z43 * _v1Z43;

          _t45 = -_t45 / (_v12X43 * _v12X43 + _v12Y43 * _v12Y43 + _v12Z43 * _v12Z43);

          var _b37;

          if (_t45 < 0) {
            out.x = _v1X43;
            out.y = _v1Y43;
            out.z = _v1Z43;
            _b37 = 1;
          } else if (_t45 > 1) {
            out.x = _v2X43;
            out.y = _v2Y43;
            out.z = _v2Z43;
            _b37 = 2;
          } else {
            var _pX33;

            var _pY33;

            var _pZ33;

            _pX33 = _v1X43 + _v12X43 * _t45;
            _pY33 = _v1Y43 + _v12Y43 * _t45;
            _pZ33 = _v1Z43 + _v12Z43 * _t45;
            out.x = _pX33;
            out.y = _pY33;
            out.z = _pZ33;
            _b37 = 3;
          }

          var d = out.x * out.x + out.y * out.y + out.z * out.z;

          if (mind < 0 || d < mind) {
            mini = _b37 << 1;
            mind = d;
            minvX = out.x;
            minvY = out.y;
            minvZ = out.z;
          }
        }

        if (v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
          var _v1X44;

          var _v1Y44;

          var _v1Z44;

          var _v2X44;

          var _v2Y44;

          var _v2Z44;

          _v1X44 = vec1.x;
          _v1Y44 = vec1.y;
          _v1Z44 = vec1.z;
          _v2X44 = vec3.x;
          _v2Y44 = vec3.y;
          _v2Z44 = vec3.z;

          var _v12X44;

          var _v12Y44;

          var _v12Z44;

          _v12X44 = _v2X44 - _v1X44;
          _v12Y44 = _v2Y44 - _v1Y44;
          _v12Z44 = _v2Z44 - _v1Z44;

          var _t46 = _v12X44 * _v1X44 + _v12Y44 * _v1Y44 + _v12Z44 * _v1Z44;

          _t46 = -_t46 / (_v12X44 * _v12X44 + _v12Y44 * _v12Y44 + _v12Z44 * _v12Z44);

          var _b38;

          if (_t46 < 0) {
            out.x = _v1X44;
            out.y = _v1Y44;
            out.z = _v1Z44;
            _b38 = 1;
          } else if (_t46 > 1) {
            out.x = _v2X44;
            out.y = _v2Y44;
            out.z = _v2Z44;
            _b38 = 2;
          } else {
            var _pX34;

            var _pY34;

            var _pZ34;

            _pX34 = _v1X44 + _v12X44 * _t46;
            _pY34 = _v1Y44 + _v12Y44 * _t46;
            _pZ34 = _v1Z44 + _v12Z44 * _t46;
            out.x = _pX34;
            out.y = _pY34;
            out.z = _pZ34;
            _b38 = 3;
          }

          var _d26 = out.x * out.x + out.y * out.y + out.z * out.z;

          if (mind < 0 || _d26 < mind) {
            mini = _b38 & 1 | (_b38 & 2) << 1;
            mind = _d26;
            minvX = out.x;
            minvY = out.y;
            minvZ = out.z;
          }
        }

        if (mind > 0) {
          out.x = minvX;
          out.y = minvY;
          out.z = minvZ;
          return mini;
        }

        var l = nX * nX + nY * nY + nZ * nZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        nX *= l;
        nY *= l;
        nZ *= l;
        var l2 = nX * nX + nY * nY + nZ * nZ;
        l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
        minvX = nX * l2;
        minvY = nY * l2;
        minvZ = nZ * l2;
        out.x = minvX;
        out.y = minvY;
        out.z = minvZ;
        return 7;
      }
    }, {
      key: "projectOrigin4",
      value: function projectOrigin4(vec1, vec2, vec3, vec4, out) {
        var v1X;
        var v1Y;
        var v1Z;
        var v2X;
        var v2Y;
        var v2Z;
        var v3X;
        var v3Y;
        var v3Z;
        var v4X;
        var v4Y;
        var v4Z;
        var v12X;
        var v12Y;
        var v12Z;
        var v13X;
        var v13Y;
        var v13Z;
        var v14X;
        var v14Y;
        var v14Z;
        var v23X;
        var v23Y;
        var v23Z;
        var v24X;
        var v24Y;
        var v24Z;
        v1X = vec1.x;
        v1Y = vec1.y;
        v1Z = vec1.z;
        v2X = vec2.x;
        v2Y = vec2.y;
        v2Z = vec2.z;
        v3X = vec3.x;
        v3Y = vec3.y;
        v3Z = vec3.z;
        v4X = vec4.x;
        v4Y = vec4.y;
        v4Z = vec4.z;
        v12X = v2X - v1X;
        v12Y = v2Y - v1Y;
        v12Z = v2Z - v1Z;
        v13X = v3X - v1X;
        v13Y = v3Y - v1Y;
        v13Z = v3Z - v1Z;
        v14X = v4X - v1X;
        v14Y = v4Y - v1Y;
        v14Z = v4Z - v1Z;
        v23X = v3X - v2X;
        v23Y = v3Y - v2Y;
        v23Z = v3Z - v2Z;
        v24X = v4X - v2X;
        v24Y = v4Y - v2Y;
        v24Z = v4Z - v2Z;
        var n123X;
        var n123Y;
        var n123Z;
        var n134X;
        var n134Y;
        var n134Z;
        var n142X;
        var n142Y;
        var n142Z;
        var n243X;
        var n243Y;
        var n243Z;
        n123X = v12Y * v13Z - v12Z * v13Y;
        n123Y = v12Z * v13X - v12X * v13Z;
        n123Z = v12X * v13Y - v12Y * v13X;
        n134X = v13Y * v14Z - v13Z * v14Y;
        n134Y = v13Z * v14X - v13X * v14Z;
        n134Z = v13X * v14Y - v13Y * v14X;
        n142X = v14Y * v12Z - v14Z * v12Y;
        n142Y = v14Z * v12X - v14X * v12Z;
        n142Z = v14X * v12Y - v14Y * v12X;
        n243X = v24Y * v23Z - v24Z * v23Y;
        n243Y = v24Z * v23X - v24X * v23Z;
        n243Z = v24X * v23Y - v24Y * v23X;
        var sign = v12X * n243X + v12Y * n243Y + v12Z * n243Z > 0 ? 1 : -1;
        var mind = -1;
        var minvX;
        var minvY;
        var minvZ;
        var mini = 0;
        minvX = 0;
        minvY = 0;
        minvZ = 0;

        if ((v1X * n123X + v1Y * n123Y + v1Z * n123Z) * sign < 0) {
          var _v1X45;

          var _v1Y45;

          var _v1Z45;

          var _v2X45;

          var _v2Y45;

          var _v2Z45;

          var _v3X9;

          var _v3Y9;

          var _v3Z9;

          var _v12X45;

          var _v12Y45;

          var _v12Z45;

          var _v23X9;

          var _v23Y9;

          var _v23Z9;

          var v31X;
          var v31Y;
          var v31Z;
          _v1X45 = vec1.x;
          _v1Y45 = vec1.y;
          _v1Z45 = vec1.z;
          _v2X45 = vec2.x;
          _v2Y45 = vec2.y;
          _v2Z45 = vec2.z;
          _v3X9 = vec3.x;
          _v3Y9 = vec3.y;
          _v3Z9 = vec3.z;
          _v12X45 = _v2X45 - _v1X45;
          _v12Y45 = _v2Y45 - _v1Y45;
          _v12Z45 = _v2Z45 - _v1Z45;
          _v23X9 = _v3X9 - _v2X45;
          _v23Y9 = _v3Y9 - _v2Y45;
          _v23Z9 = _v3Z9 - _v2Z45;
          v31X = _v1X45 - _v3X9;
          v31Y = _v1Y45 - _v3Y9;
          v31Z = _v1Z45 - _v3Z9;
          var nX;
          var nY;
          var nZ;
          nX = _v12Y45 * _v23Z9 - _v12Z45 * _v23Y9;
          nY = _v12Z45 * _v23X9 - _v12X45 * _v23Z9;
          nZ = _v12X45 * _v23Y9 - _v12Y45 * _v23X9;
          var n12X;
          var n12Y;
          var n12Z;
          var n23X;
          var n23Y;
          var n23Z;
          var n31X;
          var n31Y;
          var n31Z;
          n12X = _v12Y45 * nZ - _v12Z45 * nY;
          n12Y = _v12Z45 * nX - _v12X45 * nZ;
          n12Z = _v12X45 * nY - _v12Y45 * nX;
          n23X = _v23Y9 * nZ - _v23Z9 * nY;
          n23Y = _v23Z9 * nX - _v23X9 * nZ;
          n23Z = _v23X9 * nY - _v23Y9 * nX;
          n31X = v31Y * nZ - v31Z * nY;
          n31Y = v31Z * nX - v31X * nZ;
          n31Z = v31X * nY - v31Y * nX;
          var mind1 = -1;
          var minvX1;
          var minvY1;
          var minvZ1;
          var mini1 = 0;
          minvX1 = 0;
          minvY1 = 0;
          minvZ1 = 0;

          if (_v1X45 * n12X + _v1Y45 * n12Y + _v1Z45 * n12Z < 0) {
            var _v1X46;

            var _v1Y46;

            var _v1Z46;

            var _v2X46;

            var _v2Y46;

            var _v2Z46;

            _v1X46 = vec1.x;
            _v1Y46 = vec1.y;
            _v1Z46 = vec1.z;
            _v2X46 = vec2.x;
            _v2Y46 = vec2.y;
            _v2Z46 = vec2.z;

            var _v12X46;

            var _v12Y46;

            var _v12Z46;

            _v12X46 = _v2X46 - _v1X46;
            _v12Y46 = _v2Y46 - _v1Y46;
            _v12Z46 = _v2Z46 - _v1Z46;
            var t = _v12X46 * _v1X46 + _v12Y46 * _v1Y46 + _v12Z46 * _v1Z46;
            t = -t / (_v12X46 * _v12X46 + _v12Y46 * _v12Y46 + _v12Z46 * _v12Z46);

            var _b39;

            if (t < 0) {
              out.x = _v1X46;
              out.y = _v1Y46;
              out.z = _v1Z46;
              _b39 = 1;
            } else if (t > 1) {
              out.x = _v2X46;
              out.y = _v2Y46;
              out.z = _v2Z46;
              _b39 = 2;
            } else {
              var pX;
              var pY;
              var pZ;
              pX = _v1X46 + _v12X46 * t;
              pY = _v1Y46 + _v12Y46 * t;
              pZ = _v1Z46 + _v12Z46 * t;
              out.x = pX;
              out.y = pY;
              out.z = pZ;
              _b39 = 3;
            }

            mini1 = _b39;
            mind1 = out.x * out.x + out.y * out.y + out.z * out.z;
            minvX1 = out.x;
            minvY1 = out.y;
            minvZ1 = out.z;
          }

          if (_v2X45 * n23X + _v2Y45 * n23Y + _v2Z45 * n23Z < 0) {
            var _v1X47;

            var _v1Y47;

            var _v1Z47;

            var _v2X47;

            var _v2Y47;

            var _v2Z47;

            _v1X47 = vec2.x;
            _v1Y47 = vec2.y;
            _v1Z47 = vec2.z;
            _v2X47 = vec3.x;
            _v2Y47 = vec3.y;
            _v2Z47 = vec3.z;

            var _v12X47;

            var _v12Y47;

            var _v12Z47;

            _v12X47 = _v2X47 - _v1X47;
            _v12Y47 = _v2Y47 - _v1Y47;
            _v12Z47 = _v2Z47 - _v1Z47;

            var _t47 = _v12X47 * _v1X47 + _v12Y47 * _v1Y47 + _v12Z47 * _v1Z47;

            _t47 = -_t47 / (_v12X47 * _v12X47 + _v12Y47 * _v12Y47 + _v12Z47 * _v12Z47);

            var _b40;

            if (_t47 < 0) {
              out.x = _v1X47;
              out.y = _v1Y47;
              out.z = _v1Z47;
              _b40 = 1;
            } else if (_t47 > 1) {
              out.x = _v2X47;
              out.y = _v2Y47;
              out.z = _v2Z47;
              _b40 = 2;
            } else {
              var _pX35;

              var _pY35;

              var _pZ35;

              _pX35 = _v1X47 + _v12X47 * _t47;
              _pY35 = _v1Y47 + _v12Y47 * _t47;
              _pZ35 = _v1Z47 + _v12Z47 * _t47;
              out.x = _pX35;
              out.y = _pY35;
              out.z = _pZ35;
              _b40 = 3;
            }

            var d = out.x * out.x + out.y * out.y + out.z * out.z;

            if (mind1 < 0 || d < mind1) {
              mini1 = _b40 << 1;
              mind1 = d;
              minvX1 = out.x;
              minvY1 = out.y;
              minvZ1 = out.z;
            }
          }

          if (_v3X9 * n31X + _v3Y9 * n31Y + _v3Z9 * n31Z < 0) {
            var _v1X48;

            var _v1Y48;

            var _v1Z48;

            var _v2X48;

            var _v2Y48;

            var _v2Z48;

            _v1X48 = vec1.x;
            _v1Y48 = vec1.y;
            _v1Z48 = vec1.z;
            _v2X48 = vec3.x;
            _v2Y48 = vec3.y;
            _v2Z48 = vec3.z;

            var _v12X48;

            var _v12Y48;

            var _v12Z48;

            _v12X48 = _v2X48 - _v1X48;
            _v12Y48 = _v2Y48 - _v1Y48;
            _v12Z48 = _v2Z48 - _v1Z48;

            var _t48 = _v12X48 * _v1X48 + _v12Y48 * _v1Y48 + _v12Z48 * _v1Z48;

            _t48 = -_t48 / (_v12X48 * _v12X48 + _v12Y48 * _v12Y48 + _v12Z48 * _v12Z48);

            var _b41;

            if (_t48 < 0) {
              out.x = _v1X48;
              out.y = _v1Y48;
              out.z = _v1Z48;
              _b41 = 1;
            } else if (_t48 > 1) {
              out.x = _v2X48;
              out.y = _v2Y48;
              out.z = _v2Z48;
              _b41 = 2;
            } else {
              var _pX36;

              var _pY36;

              var _pZ36;

              _pX36 = _v1X48 + _v12X48 * _t48;
              _pY36 = _v1Y48 + _v12Y48 * _t48;
              _pZ36 = _v1Z48 + _v12Z48 * _t48;
              out.x = _pX36;
              out.y = _pY36;
              out.z = _pZ36;
              _b41 = 3;
            }

            var _d27 = out.x * out.x + out.y * out.y + out.z * out.z;

            if (mind1 < 0 || _d27 < mind1) {
              mini1 = _b41 & 1 | (_b41 & 2) << 1;
              mind1 = _d27;
              minvX1 = out.x;
              minvY1 = out.y;
              minvZ1 = out.z;
            }
          }

          var b;

          if (mind1 > 0) {
            out.x = minvX1;
            out.y = minvY1;
            out.z = minvZ1;
            b = mini1;
          } else {
            var l = nX * nX + nY * nY + nZ * nZ;

            if (l > 0) {
              l = 1 / Math.sqrt(l);
            }

            nX *= l;
            nY *= l;
            nZ *= l;
            var l2 = nX * nX + nY * nY + nZ * nZ;
            l2 = (_v1X45 * nX + _v1Y45 * nY + _v1Z45 * nZ) / l2;
            minvX1 = nX * l2;
            minvY1 = nY * l2;
            minvZ1 = nZ * l2;
            out.x = minvX1;
            out.y = minvY1;
            out.z = minvZ1;
            b = 7;
          }

          mini = b;
          mind = out.x * out.x + out.y * out.y + out.z * out.z;
          minvX = out.x;
          minvY = out.y;
          minvZ = out.z;
        }

        if ((v1X * n134X + v1Y * n134Y + v1Z * n134Z) * sign < 0) {
          var _v1X49;

          var _v1Y49;

          var _v1Z49;

          var _v2X49;

          var _v2Y49;

          var _v2Z49;

          var _v3X10;

          var _v3Y10;

          var _v3Z10;

          var _v12X49;

          var _v12Y49;

          var _v12Z49;

          var _v23X10;

          var _v23Y10;

          var _v23Z10;

          var _v31X9;

          var _v31Y9;

          var _v31Z9;

          _v1X49 = vec1.x;
          _v1Y49 = vec1.y;
          _v1Z49 = vec1.z;
          _v2X49 = vec3.x;
          _v2Y49 = vec3.y;
          _v2Z49 = vec3.z;
          _v3X10 = vec4.x;
          _v3Y10 = vec4.y;
          _v3Z10 = vec4.z;
          _v12X49 = _v2X49 - _v1X49;
          _v12Y49 = _v2Y49 - _v1Y49;
          _v12Z49 = _v2Z49 - _v1Z49;
          _v23X10 = _v3X10 - _v2X49;
          _v23Y10 = _v3Y10 - _v2Y49;
          _v23Z10 = _v3Z10 - _v2Z49;
          _v31X9 = _v1X49 - _v3X10;
          _v31Y9 = _v1Y49 - _v3Y10;
          _v31Z9 = _v1Z49 - _v3Z10;

          var _nX9;

          var _nY9;

          var _nZ9;

          _nX9 = _v12Y49 * _v23Z10 - _v12Z49 * _v23Y10;
          _nY9 = _v12Z49 * _v23X10 - _v12X49 * _v23Z10;
          _nZ9 = _v12X49 * _v23Y10 - _v12Y49 * _v23X10;

          var _n12X9;

          var _n12Y9;

          var _n12Z9;

          var _n23X9;

          var _n23Y9;

          var _n23Z9;

          var _n31X9;

          var _n31Y9;

          var _n31Z9;

          _n12X9 = _v12Y49 * _nZ9 - _v12Z49 * _nY9;
          _n12Y9 = _v12Z49 * _nX9 - _v12X49 * _nZ9;
          _n12Z9 = _v12X49 * _nY9 - _v12Y49 * _nX9;
          _n23X9 = _v23Y10 * _nZ9 - _v23Z10 * _nY9;
          _n23Y9 = _v23Z10 * _nX9 - _v23X10 * _nZ9;
          _n23Z9 = _v23X10 * _nY9 - _v23Y10 * _nX9;
          _n31X9 = _v31Y9 * _nZ9 - _v31Z9 * _nY9;
          _n31Y9 = _v31Z9 * _nX9 - _v31X9 * _nZ9;
          _n31Z9 = _v31X9 * _nY9 - _v31Y9 * _nX9;

          var _mind9 = -1;

          var _minvX9;

          var _minvY9;

          var _minvZ9;

          var _mini9 = 0;
          _minvX9 = 0;
          _minvY9 = 0;
          _minvZ9 = 0;

          if (_v1X49 * _n12X9 + _v1Y49 * _n12Y9 + _v1Z49 * _n12Z9 < 0) {
            var _v1X50;

            var _v1Y50;

            var _v1Z50;

            var _v2X50;

            var _v2Y50;

            var _v2Z50;

            _v1X50 = vec1.x;
            _v1Y50 = vec1.y;
            _v1Z50 = vec1.z;
            _v2X50 = vec3.x;
            _v2Y50 = vec3.y;
            _v2Z50 = vec3.z;

            var _v12X50;

            var _v12Y50;

            var _v12Z50;

            _v12X50 = _v2X50 - _v1X50;
            _v12Y50 = _v2Y50 - _v1Y50;
            _v12Z50 = _v2Z50 - _v1Z50;

            var _t49 = _v12X50 * _v1X50 + _v12Y50 * _v1Y50 + _v12Z50 * _v1Z50;

            _t49 = -_t49 / (_v12X50 * _v12X50 + _v12Y50 * _v12Y50 + _v12Z50 * _v12Z50);

            var _b43;

            if (_t49 < 0) {
              out.x = _v1X50;
              out.y = _v1Y50;
              out.z = _v1Z50;
              _b43 = 1;
            } else if (_t49 > 1) {
              out.x = _v2X50;
              out.y = _v2Y50;
              out.z = _v2Z50;
              _b43 = 2;
            } else {
              var _pX37;

              var _pY37;

              var _pZ37;

              _pX37 = _v1X50 + _v12X50 * _t49;
              _pY37 = _v1Y50 + _v12Y50 * _t49;
              _pZ37 = _v1Z50 + _v12Z50 * _t49;
              out.x = _pX37;
              out.y = _pY37;
              out.z = _pZ37;
              _b43 = 3;
            }

            _mini9 = _b43;
            _mind9 = out.x * out.x + out.y * out.y + out.z * out.z;
            _minvX9 = out.x;
            _minvY9 = out.y;
            _minvZ9 = out.z;
          }

          if (_v2X49 * _n23X9 + _v2Y49 * _n23Y9 + _v2Z49 * _n23Z9 < 0) {
            var _v1X51;

            var _v1Y51;

            var _v1Z51;

            var _v2X51;

            var _v2Y51;

            var _v2Z51;

            _v1X51 = vec3.x;
            _v1Y51 = vec3.y;
            _v1Z51 = vec3.z;
            _v2X51 = vec4.x;
            _v2Y51 = vec4.y;
            _v2Z51 = vec4.z;

            var _v12X51;

            var _v12Y51;

            var _v12Z51;

            _v12X51 = _v2X51 - _v1X51;
            _v12Y51 = _v2Y51 - _v1Y51;
            _v12Z51 = _v2Z51 - _v1Z51;

            var _t50 = _v12X51 * _v1X51 + _v12Y51 * _v1Y51 + _v12Z51 * _v1Z51;

            _t50 = -_t50 / (_v12X51 * _v12X51 + _v12Y51 * _v12Y51 + _v12Z51 * _v12Z51);

            var _b44;

            if (_t50 < 0) {
              out.x = _v1X51;
              out.y = _v1Y51;
              out.z = _v1Z51;
              _b44 = 1;
            } else if (_t50 > 1) {
              out.x = _v2X51;
              out.y = _v2Y51;
              out.z = _v2Z51;
              _b44 = 2;
            } else {
              var _pX38;

              var _pY38;

              var _pZ38;

              _pX38 = _v1X51 + _v12X51 * _t50;
              _pY38 = _v1Y51 + _v12Y51 * _t50;
              _pZ38 = _v1Z51 + _v12Z51 * _t50;
              out.x = _pX38;
              out.y = _pY38;
              out.z = _pZ38;
              _b44 = 3;
            }

            var _d29 = out.x * out.x + out.y * out.y + out.z * out.z;

            if (_mind9 < 0 || _d29 < _mind9) {
              _mini9 = _b44 << 1;
              _mind9 = _d29;
              _minvX9 = out.x;
              _minvY9 = out.y;
              _minvZ9 = out.z;
            }
          }

          if (_v3X10 * _n31X9 + _v3Y10 * _n31Y9 + _v3Z10 * _n31Z9 < 0) {
            var _v1X52;

            var _v1Y52;

            var _v1Z52;

            var _v2X52;

            var _v2Y52;

            var _v2Z52;

            _v1X52 = vec1.x;
            _v1Y52 = vec1.y;
            _v1Z52 = vec1.z;
            _v2X52 = vec4.x;
            _v2Y52 = vec4.y;
            _v2Z52 = vec4.z;

            var _v12X52;

            var _v12Y52;

            var _v12Z52;

            _v12X52 = _v2X52 - _v1X52;
            _v12Y52 = _v2Y52 - _v1Y52;
            _v12Z52 = _v2Z52 - _v1Z52;

            var _t51 = _v12X52 * _v1X52 + _v12Y52 * _v1Y52 + _v12Z52 * _v1Z52;

            _t51 = -_t51 / (_v12X52 * _v12X52 + _v12Y52 * _v12Y52 + _v12Z52 * _v12Z52);

            var _b45;

            if (_t51 < 0) {
              out.x = _v1X52;
              out.y = _v1Y52;
              out.z = _v1Z52;
              _b45 = 1;
            } else if (_t51 > 1) {
              out.x = _v2X52;
              out.y = _v2Y52;
              out.z = _v2Z52;
              _b45 = 2;
            } else {
              var _pX39;

              var _pY39;

              var _pZ39;

              _pX39 = _v1X52 + _v12X52 * _t51;
              _pY39 = _v1Y52 + _v12Y52 * _t51;
              _pZ39 = _v1Z52 + _v12Z52 * _t51;
              out.x = _pX39;
              out.y = _pY39;
              out.z = _pZ39;
              _b45 = 3;
            }

            var _d30 = out.x * out.x + out.y * out.y + out.z * out.z;

            if (_mind9 < 0 || _d30 < _mind9) {
              _mini9 = _b45 & 1 | (_b45 & 2) << 1;
              _mind9 = _d30;
              _minvX9 = out.x;
              _minvY9 = out.y;
              _minvZ9 = out.z;
            }
          }

          var _b42;

          if (_mind9 > 0) {
            out.x = _minvX9;
            out.y = _minvY9;
            out.z = _minvZ9;
            _b42 = _mini9;
          } else {
            var _l26 = _nX9 * _nX9 + _nY9 * _nY9 + _nZ9 * _nZ9;

            if (_l26 > 0) {
              _l26 = 1 / Math.sqrt(_l26);
            }

            _nX9 *= _l26;
            _nY9 *= _l26;
            _nZ9 *= _l26;

            var _l27 = _nX9 * _nX9 + _nY9 * _nY9 + _nZ9 * _nZ9;

            _l27 = (_v1X49 * _nX9 + _v1Y49 * _nY9 + _v1Z49 * _nZ9) / _l27;
            _minvX9 = _nX9 * _l27;
            _minvY9 = _nY9 * _l27;
            _minvZ9 = _nZ9 * _l27;
            out.x = _minvX9;
            out.y = _minvY9;
            out.z = _minvZ9;
            _b42 = 7;
          }

          var _d28 = out.x * out.x + out.y * out.y + out.z * out.z;

          if (mind < 0 || _d28 < mind) {
            mini = _b42 & 1 | (_b42 & 6) << 1;
            mind = _d28;
            minvX = out.x;
            minvY = out.y;
            minvZ = out.z;
          }
        }

        if ((v1X * n142X + v1Y * n142Y + v1Z * n142Z) * sign < 0) {
          var _v1X53;

          var _v1Y53;

          var _v1Z53;

          var _v2X53;

          var _v2Y53;

          var _v2Z53;

          var _v3X11;

          var _v3Y11;

          var _v3Z11;

          var _v12X53;

          var _v12Y53;

          var _v12Z53;

          var _v23X11;

          var _v23Y11;

          var _v23Z11;

          var _v31X10;

          var _v31Y10;

          var _v31Z10;

          _v1X53 = vec1.x;
          _v1Y53 = vec1.y;
          _v1Z53 = vec1.z;
          _v2X53 = vec2.x;
          _v2Y53 = vec2.y;
          _v2Z53 = vec2.z;
          _v3X11 = vec4.x;
          _v3Y11 = vec4.y;
          _v3Z11 = vec4.z;
          _v12X53 = _v2X53 - _v1X53;
          _v12Y53 = _v2Y53 - _v1Y53;
          _v12Z53 = _v2Z53 - _v1Z53;
          _v23X11 = _v3X11 - _v2X53;
          _v23Y11 = _v3Y11 - _v2Y53;
          _v23Z11 = _v3Z11 - _v2Z53;
          _v31X10 = _v1X53 - _v3X11;
          _v31Y10 = _v1Y53 - _v3Y11;
          _v31Z10 = _v1Z53 - _v3Z11;

          var _nX10;

          var _nY10;

          var _nZ10;

          _nX10 = _v12Y53 * _v23Z11 - _v12Z53 * _v23Y11;
          _nY10 = _v12Z53 * _v23X11 - _v12X53 * _v23Z11;
          _nZ10 = _v12X53 * _v23Y11 - _v12Y53 * _v23X11;

          var _n12X10;

          var _n12Y10;

          var _n12Z10;

          var _n23X10;

          var _n23Y10;

          var _n23Z10;

          var _n31X10;

          var _n31Y10;

          var _n31Z10;

          _n12X10 = _v12Y53 * _nZ10 - _v12Z53 * _nY10;
          _n12Y10 = _v12Z53 * _nX10 - _v12X53 * _nZ10;
          _n12Z10 = _v12X53 * _nY10 - _v12Y53 * _nX10;
          _n23X10 = _v23Y11 * _nZ10 - _v23Z11 * _nY10;
          _n23Y10 = _v23Z11 * _nX10 - _v23X11 * _nZ10;
          _n23Z10 = _v23X11 * _nY10 - _v23Y11 * _nX10;
          _n31X10 = _v31Y10 * _nZ10 - _v31Z10 * _nY10;
          _n31Y10 = _v31Z10 * _nX10 - _v31X10 * _nZ10;
          _n31Z10 = _v31X10 * _nY10 - _v31Y10 * _nX10;

          var _mind10 = -1;

          var _minvX10;

          var _minvY10;

          var _minvZ10;

          var _mini10 = 0;
          _minvX10 = 0;
          _minvY10 = 0;
          _minvZ10 = 0;

          if (_v1X53 * _n12X10 + _v1Y53 * _n12Y10 + _v1Z53 * _n12Z10 < 0) {
            var _v1X54;

            var _v1Y54;

            var _v1Z54;

            var _v2X54;

            var _v2Y54;

            var _v2Z54;

            _v1X54 = vec1.x;
            _v1Y54 = vec1.y;
            _v1Z54 = vec1.z;
            _v2X54 = vec2.x;
            _v2Y54 = vec2.y;
            _v2Z54 = vec2.z;

            var _v12X54;

            var _v12Y54;

            var _v12Z54;

            _v12X54 = _v2X54 - _v1X54;
            _v12Y54 = _v2Y54 - _v1Y54;
            _v12Z54 = _v2Z54 - _v1Z54;

            var _t52 = _v12X54 * _v1X54 + _v12Y54 * _v1Y54 + _v12Z54 * _v1Z54;

            _t52 = -_t52 / (_v12X54 * _v12X54 + _v12Y54 * _v12Y54 + _v12Z54 * _v12Z54);

            var _b47;

            if (_t52 < 0) {
              out.x = _v1X54;
              out.y = _v1Y54;
              out.z = _v1Z54;
              _b47 = 1;
            } else if (_t52 > 1) {
              out.x = _v2X54;
              out.y = _v2Y54;
              out.z = _v2Z54;
              _b47 = 2;
            } else {
              var _pX40;

              var _pY40;

              var _pZ40;

              _pX40 = _v1X54 + _v12X54 * _t52;
              _pY40 = _v1Y54 + _v12Y54 * _t52;
              _pZ40 = _v1Z54 + _v12Z54 * _t52;
              out.x = _pX40;
              out.y = _pY40;
              out.z = _pZ40;
              _b47 = 3;
            }

            _mini10 = _b47;
            _mind10 = out.x * out.x + out.y * out.y + out.z * out.z;
            _minvX10 = out.x;
            _minvY10 = out.y;
            _minvZ10 = out.z;
          }

          if (_v2X53 * _n23X10 + _v2Y53 * _n23Y10 + _v2Z53 * _n23Z10 < 0) {
            var _v1X55;

            var _v1Y55;

            var _v1Z55;

            var _v2X55;

            var _v2Y55;

            var _v2Z55;

            _v1X55 = vec2.x;
            _v1Y55 = vec2.y;
            _v1Z55 = vec2.z;
            _v2X55 = vec4.x;
            _v2Y55 = vec4.y;
            _v2Z55 = vec4.z;

            var _v12X55;

            var _v12Y55;

            var _v12Z55;

            _v12X55 = _v2X55 - _v1X55;
            _v12Y55 = _v2Y55 - _v1Y55;
            _v12Z55 = _v2Z55 - _v1Z55;

            var _t53 = _v12X55 * _v1X55 + _v12Y55 * _v1Y55 + _v12Z55 * _v1Z55;

            _t53 = -_t53 / (_v12X55 * _v12X55 + _v12Y55 * _v12Y55 + _v12Z55 * _v12Z55);

            var _b48;

            if (_t53 < 0) {
              out.x = _v1X55;
              out.y = _v1Y55;
              out.z = _v1Z55;
              _b48 = 1;
            } else if (_t53 > 1) {
              out.x = _v2X55;
              out.y = _v2Y55;
              out.z = _v2Z55;
              _b48 = 2;
            } else {
              var _pX41;

              var _pY41;

              var _pZ41;

              _pX41 = _v1X55 + _v12X55 * _t53;
              _pY41 = _v1Y55 + _v12Y55 * _t53;
              _pZ41 = _v1Z55 + _v12Z55 * _t53;
              out.x = _pX41;
              out.y = _pY41;
              out.z = _pZ41;
              _b48 = 3;
            }

            var _d32 = out.x * out.x + out.y * out.y + out.z * out.z;

            if (_mind10 < 0 || _d32 < _mind10) {
              _mini10 = _b48 << 1;
              _mind10 = _d32;
              _minvX10 = out.x;
              _minvY10 = out.y;
              _minvZ10 = out.z;
            }
          }

          if (_v3X11 * _n31X10 + _v3Y11 * _n31Y10 + _v3Z11 * _n31Z10 < 0) {
            var _v1X56;

            var _v1Y56;

            var _v1Z56;

            var _v2X56;

            var _v2Y56;

            var _v2Z56;

            _v1X56 = vec1.x;
            _v1Y56 = vec1.y;
            _v1Z56 = vec1.z;
            _v2X56 = vec4.x;
            _v2Y56 = vec4.y;
            _v2Z56 = vec4.z;

            var _v12X56;

            var _v12Y56;

            var _v12Z56;

            _v12X56 = _v2X56 - _v1X56;
            _v12Y56 = _v2Y56 - _v1Y56;
            _v12Z56 = _v2Z56 - _v1Z56;

            var _t54 = _v12X56 * _v1X56 + _v12Y56 * _v1Y56 + _v12Z56 * _v1Z56;

            _t54 = -_t54 / (_v12X56 * _v12X56 + _v12Y56 * _v12Y56 + _v12Z56 * _v12Z56);

            var _b49;

            if (_t54 < 0) {
              out.x = _v1X56;
              out.y = _v1Y56;
              out.z = _v1Z56;
              _b49 = 1;
            } else if (_t54 > 1) {
              out.x = _v2X56;
              out.y = _v2Y56;
              out.z = _v2Z56;
              _b49 = 2;
            } else {
              var _pX42;

              var _pY42;

              var _pZ42;

              _pX42 = _v1X56 + _v12X56 * _t54;
              _pY42 = _v1Y56 + _v12Y56 * _t54;
              _pZ42 = _v1Z56 + _v12Z56 * _t54;
              out.x = _pX42;
              out.y = _pY42;
              out.z = _pZ42;
              _b49 = 3;
            }

            var _d33 = out.x * out.x + out.y * out.y + out.z * out.z;

            if (_mind10 < 0 || _d33 < _mind10) {
              _mini10 = _b49 & 1 | (_b49 & 2) << 1;
              _mind10 = _d33;
              _minvX10 = out.x;
              _minvY10 = out.y;
              _minvZ10 = out.z;
            }
          }

          var _b46;

          if (_mind10 > 0) {
            out.x = _minvX10;
            out.y = _minvY10;
            out.z = _minvZ10;
            _b46 = _mini10;
          } else {
            var _l28 = _nX10 * _nX10 + _nY10 * _nY10 + _nZ10 * _nZ10;

            if (_l28 > 0) {
              _l28 = 1 / Math.sqrt(_l28);
            }

            _nX10 *= _l28;
            _nY10 *= _l28;
            _nZ10 *= _l28;

            var _l29 = _nX10 * _nX10 + _nY10 * _nY10 + _nZ10 * _nZ10;

            _l29 = (_v1X53 * _nX10 + _v1Y53 * _nY10 + _v1Z53 * _nZ10) / _l29;
            _minvX10 = _nX10 * _l29;
            _minvY10 = _nY10 * _l29;
            _minvZ10 = _nZ10 * _l29;
            out.x = _minvX10;
            out.y = _minvY10;
            out.z = _minvZ10;
            _b46 = 7;
          }

          var _d31 = out.x * out.x + out.y * out.y + out.z * out.z;

          if (mind < 0 || _d31 < mind) {
            mini = _b46 & 3 | (_b46 & 4) << 1;
            mind = _d31;
            minvX = out.x;
            minvY = out.y;
            minvZ = out.z;
          }
        }

        if ((v2X * n243X + v2Y * n243Y + v2Z * n243Z) * sign < 0) {
          var _v1X57;

          var _v1Y57;

          var _v1Z57;

          var _v2X57;

          var _v2Y57;

          var _v2Z57;

          var _v3X12;

          var _v3Y12;

          var _v3Z12;

          var _v12X57;

          var _v12Y57;

          var _v12Z57;

          var _v23X12;

          var _v23Y12;

          var _v23Z12;

          var _v31X11;

          var _v31Y11;

          var _v31Z11;

          _v1X57 = vec2.x;
          _v1Y57 = vec2.y;
          _v1Z57 = vec2.z;
          _v2X57 = vec3.x;
          _v2Y57 = vec3.y;
          _v2Z57 = vec3.z;
          _v3X12 = vec4.x;
          _v3Y12 = vec4.y;
          _v3Z12 = vec4.z;
          _v12X57 = _v2X57 - _v1X57;
          _v12Y57 = _v2Y57 - _v1Y57;
          _v12Z57 = _v2Z57 - _v1Z57;
          _v23X12 = _v3X12 - _v2X57;
          _v23Y12 = _v3Y12 - _v2Y57;
          _v23Z12 = _v3Z12 - _v2Z57;
          _v31X11 = _v1X57 - _v3X12;
          _v31Y11 = _v1Y57 - _v3Y12;
          _v31Z11 = _v1Z57 - _v3Z12;

          var _nX11;

          var _nY11;

          var _nZ11;

          _nX11 = _v12Y57 * _v23Z12 - _v12Z57 * _v23Y12;
          _nY11 = _v12Z57 * _v23X12 - _v12X57 * _v23Z12;
          _nZ11 = _v12X57 * _v23Y12 - _v12Y57 * _v23X12;

          var _n12X11;

          var _n12Y11;

          var _n12Z11;

          var _n23X11;

          var _n23Y11;

          var _n23Z11;

          var _n31X11;

          var _n31Y11;

          var _n31Z11;

          _n12X11 = _v12Y57 * _nZ11 - _v12Z57 * _nY11;
          _n12Y11 = _v12Z57 * _nX11 - _v12X57 * _nZ11;
          _n12Z11 = _v12X57 * _nY11 - _v12Y57 * _nX11;
          _n23X11 = _v23Y12 * _nZ11 - _v23Z12 * _nY11;
          _n23Y11 = _v23Z12 * _nX11 - _v23X12 * _nZ11;
          _n23Z11 = _v23X12 * _nY11 - _v23Y12 * _nX11;
          _n31X11 = _v31Y11 * _nZ11 - _v31Z11 * _nY11;
          _n31Y11 = _v31Z11 * _nX11 - _v31X11 * _nZ11;
          _n31Z11 = _v31X11 * _nY11 - _v31Y11 * _nX11;

          var _mind11 = -1;

          var _minvX11;

          var _minvY11;

          var _minvZ11;

          var _mini11 = 0;
          _minvX11 = 0;
          _minvY11 = 0;
          _minvZ11 = 0;

          if (_v1X57 * _n12X11 + _v1Y57 * _n12Y11 + _v1Z57 * _n12Z11 < 0) {
            var _v1X58;

            var _v1Y58;

            var _v1Z58;

            var _v2X58;

            var _v2Y58;

            var _v2Z58;

            _v1X58 = vec2.x;
            _v1Y58 = vec2.y;
            _v1Z58 = vec2.z;
            _v2X58 = vec3.x;
            _v2Y58 = vec3.y;
            _v2Z58 = vec3.z;

            var _v12X58;

            var _v12Y58;

            var _v12Z58;

            _v12X58 = _v2X58 - _v1X58;
            _v12Y58 = _v2Y58 - _v1Y58;
            _v12Z58 = _v2Z58 - _v1Z58;

            var _t55 = _v12X58 * _v1X58 + _v12Y58 * _v1Y58 + _v12Z58 * _v1Z58;

            _t55 = -_t55 / (_v12X58 * _v12X58 + _v12Y58 * _v12Y58 + _v12Z58 * _v12Z58);

            var _b51;

            if (_t55 < 0) {
              out.x = _v1X58;
              out.y = _v1Y58;
              out.z = _v1Z58;
              _b51 = 1;
            } else if (_t55 > 1) {
              out.x = _v2X58;
              out.y = _v2Y58;
              out.z = _v2Z58;
              _b51 = 2;
            } else {
              var _pX43;

              var _pY43;

              var _pZ43;

              _pX43 = _v1X58 + _v12X58 * _t55;
              _pY43 = _v1Y58 + _v12Y58 * _t55;
              _pZ43 = _v1Z58 + _v12Z58 * _t55;
              out.x = _pX43;
              out.y = _pY43;
              out.z = _pZ43;
              _b51 = 3;
            }

            _mini11 = _b51;
            _mind11 = out.x * out.x + out.y * out.y + out.z * out.z;
            _minvX11 = out.x;
            _minvY11 = out.y;
            _minvZ11 = out.z;
          }

          if (_v2X57 * _n23X11 + _v2Y57 * _n23Y11 + _v2Z57 * _n23Z11 < 0) {
            var _v1X59;

            var _v1Y59;

            var _v1Z59;

            var _v2X59;

            var _v2Y59;

            var _v2Z59;

            _v1X59 = vec3.x;
            _v1Y59 = vec3.y;
            _v1Z59 = vec3.z;
            _v2X59 = vec4.x;
            _v2Y59 = vec4.y;
            _v2Z59 = vec4.z;

            var _v12X59;

            var _v12Y59;

            var _v12Z59;

            _v12X59 = _v2X59 - _v1X59;
            _v12Y59 = _v2Y59 - _v1Y59;
            _v12Z59 = _v2Z59 - _v1Z59;

            var _t56 = _v12X59 * _v1X59 + _v12Y59 * _v1Y59 + _v12Z59 * _v1Z59;

            _t56 = -_t56 / (_v12X59 * _v12X59 + _v12Y59 * _v12Y59 + _v12Z59 * _v12Z59);

            var _b52;

            if (_t56 < 0) {
              out.x = _v1X59;
              out.y = _v1Y59;
              out.z = _v1Z59;
              _b52 = 1;
            } else if (_t56 > 1) {
              out.x = _v2X59;
              out.y = _v2Y59;
              out.z = _v2Z59;
              _b52 = 2;
            } else {
              var _pX44;

              var _pY44;

              var _pZ44;

              _pX44 = _v1X59 + _v12X59 * _t56;
              _pY44 = _v1Y59 + _v12Y59 * _t56;
              _pZ44 = _v1Z59 + _v12Z59 * _t56;
              out.x = _pX44;
              out.y = _pY44;
              out.z = _pZ44;
              _b52 = 3;
            }

            var _d35 = out.x * out.x + out.y * out.y + out.z * out.z;

            if (_mind11 < 0 || _d35 < _mind11) {
              _mini11 = _b52 << 1;
              _mind11 = _d35;
              _minvX11 = out.x;
              _minvY11 = out.y;
              _minvZ11 = out.z;
            }
          }

          if (_v3X12 * _n31X11 + _v3Y12 * _n31Y11 + _v3Z12 * _n31Z11 < 0) {
            var _v1X60;

            var _v1Y60;

            var _v1Z60;

            var _v2X60;

            var _v2Y60;

            var _v2Z60;

            _v1X60 = vec2.x;
            _v1Y60 = vec2.y;
            _v1Z60 = vec2.z;
            _v2X60 = vec4.x;
            _v2Y60 = vec4.y;
            _v2Z60 = vec4.z;

            var _v12X60;

            var _v12Y60;

            var _v12Z60;

            _v12X60 = _v2X60 - _v1X60;
            _v12Y60 = _v2Y60 - _v1Y60;
            _v12Z60 = _v2Z60 - _v1Z60;

            var _t57 = _v12X60 * _v1X60 + _v12Y60 * _v1Y60 + _v12Z60 * _v1Z60;

            _t57 = -_t57 / (_v12X60 * _v12X60 + _v12Y60 * _v12Y60 + _v12Z60 * _v12Z60);

            var _b53;

            if (_t57 < 0) {
              out.x = _v1X60;
              out.y = _v1Y60;
              out.z = _v1Z60;
              _b53 = 1;
            } else if (_t57 > 1) {
              out.x = _v2X60;
              out.y = _v2Y60;
              out.z = _v2Z60;
              _b53 = 2;
            } else {
              var _pX45;

              var _pY45;

              var _pZ45;

              _pX45 = _v1X60 + _v12X60 * _t57;
              _pY45 = _v1Y60 + _v12Y60 * _t57;
              _pZ45 = _v1Z60 + _v12Z60 * _t57;
              out.x = _pX45;
              out.y = _pY45;
              out.z = _pZ45;
              _b53 = 3;
            }

            var _d36 = out.x * out.x + out.y * out.y + out.z * out.z;

            if (_mind11 < 0 || _d36 < _mind11) {
              _mini11 = _b53 & 1 | (_b53 & 2) << 1;
              _mind11 = _d36;
              _minvX11 = out.x;
              _minvY11 = out.y;
              _minvZ11 = out.z;
            }
          }

          var _b50;

          if (_mind11 > 0) {
            out.x = _minvX11;
            out.y = _minvY11;
            out.z = _minvZ11;
            _b50 = _mini11;
          } else {
            var _l30 = _nX11 * _nX11 + _nY11 * _nY11 + _nZ11 * _nZ11;

            if (_l30 > 0) {
              _l30 = 1 / Math.sqrt(_l30);
            }

            _nX11 *= _l30;
            _nY11 *= _l30;
            _nZ11 *= _l30;

            var _l31 = _nX11 * _nX11 + _nY11 * _nY11 + _nZ11 * _nZ11;

            _l31 = (_v1X57 * _nX11 + _v1Y57 * _nY11 + _v1Z57 * _nZ11) / _l31;
            _minvX11 = _nX11 * _l31;
            _minvY11 = _nY11 * _l31;
            _minvZ11 = _nZ11 * _l31;
            out.x = _minvX11;
            out.y = _minvY11;
            out.z = _minvZ11;
            _b50 = 7;
          }

          var _d34 = out.x * out.x + out.y * out.y + out.z * out.z;

          if (mind < 0 || _d34 < mind) {
            mini = _b50 << 1;
            mind = _d34;
            minvX = out.x;
            minvY = out.y;
            minvZ = out.z;
          }
        }

        if (mind > 0) {
          out.x = minvX;
          out.y = minvY;
          out.z = minvZ;
          return mini;
        }

        out.zero();
        return 15;
      }
    }]);

    return oimo_collision_narrowphase_detector_gjkepa_SimplexUtil;
  }();

  oimo.common.Mat3 = /*#__PURE__*/function () {
    function oimo_common_Mat3(e00, e01, e02, e10, e11, e12, e20, e21, e22) {
      _classCallCheck(this, oimo_common_Mat3);

      if (e22 == null) {
        e22 = 1;
      }

      if (e21 == null) {
        e21 = 0;
      }

      if (e20 == null) {
        e20 = 0;
      }

      if (e12 == null) {
        e12 = 0;
      }

      if (e11 == null) {
        e11 = 1;
      }

      if (e10 == null) {
        e10 = 0;
      }

      if (e02 == null) {
        e02 = 0;
      }

      if (e01 == null) {
        e01 = 0;
      }

      if (e00 == null) {
        e00 = 1;
      }

      this.e00 = e00;
      this.e01 = e01;
      this.e02 = e02;
      this.e10 = e10;
      this.e11 = e11;
      this.e12 = e12;
      this.e20 = e20;
      this.e21 = e21;
      this.e22 = e22;
      oimo.common.Mat3.numCreations++;
    }

    _createClass(oimo_common_Mat3, [{
      key: "init",
      value: function init(e00, e01, e02, e10, e11, e12, e20, e21, e22) {
        this.e00 = e00;
        this.e01 = e01;
        this.e02 = e02;
        this.e10 = e10;
        this.e11 = e11;
        this.e12 = e12;
        this.e20 = e20;
        this.e21 = e21;
        this.e22 = e22;
        return this;
      }
    }, {
      key: "identity",
      value: function identity() {
        this.e00 = 1;
        this.e01 = 0;
        this.e02 = 0;
        this.e10 = 0;
        this.e11 = 1;
        this.e12 = 0;
        this.e20 = 0;
        this.e21 = 0;
        this.e22 = 1;
        return this;
      }
    }, {
      key: "add",
      value: function add(m) {
        return new oimo.common.Mat3(this.e00 + m.e00, this.e01 + m.e01, this.e02 + m.e02, this.e10 + m.e10, this.e11 + m.e11, this.e12 + m.e12, this.e20 + m.e20, this.e21 + m.e21, this.e22 + m.e22);
      }
    }, {
      key: "sub",
      value: function sub(m) {
        return new oimo.common.Mat3(this.e00 - m.e00, this.e01 - m.e01, this.e02 - m.e02, this.e10 - m.e10, this.e11 - m.e11, this.e12 - m.e12, this.e20 - m.e20, this.e21 - m.e21, this.e22 - m.e22);
      }
    }, {
      key: "scale",
      value: function scale(s) {
        return new oimo.common.Mat3(this.e00 * s, this.e01 * s, this.e02 * s, this.e10 * s, this.e11 * s, this.e12 * s, this.e20 * s, this.e21 * s, this.e22 * s);
      }
    }, {
      key: "mul",
      value: function mul(m) {
        return new oimo.common.Mat3(this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20, this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21, this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22, this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20, this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21, this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22, this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20, this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21, this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22);
      }
    }, {
      key: "addEq",
      value: function addEq(m) {
        this.e00 += m.e00;
        this.e01 += m.e01;
        this.e02 += m.e02;
        this.e10 += m.e10;
        this.e11 += m.e11;
        this.e12 += m.e12;
        this.e20 += m.e20;
        this.e21 += m.e21;
        this.e22 += m.e22;
        return this;
      }
    }, {
      key: "subEq",
      value: function subEq(m) {
        this.e00 -= m.e00;
        this.e01 -= m.e01;
        this.e02 -= m.e02;
        this.e10 -= m.e10;
        this.e11 -= m.e11;
        this.e12 -= m.e12;
        this.e20 -= m.e20;
        this.e21 -= m.e21;
        this.e22 -= m.e22;
        return this;
      }
    }, {
      key: "scaleEq",
      value: function scaleEq(s) {
        this.e00 *= s;
        this.e01 *= s;
        this.e02 *= s;
        this.e10 *= s;
        this.e11 *= s;
        this.e12 *= s;
        this.e20 *= s;
        this.e21 *= s;
        this.e22 *= s;
        return this;
      }
    }, {
      key: "mulEq",
      value: function mulEq(m) {
        var e01 = this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21;
        var e02 = this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22;
        var e10 = this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20;
        var e11 = this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21;
        var e12 = this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22;
        var e20 = this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20;
        var e21 = this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21;
        var e22 = this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22;
        this.e00 = this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20;
        this.e01 = e01;
        this.e02 = e02;
        this.e10 = e10;
        this.e11 = e11;
        this.e12 = e12;
        this.e20 = e20;
        this.e21 = e21;
        this.e22 = e22;
        return this;
      }
    }, {
      key: "prependScale",
      value: function prependScale(sx, sy, sz) {
        return new oimo.common.Mat3(this.e00 * sx, this.e01 * sx, this.e02 * sx, this.e10 * sy, this.e11 * sy, this.e12 * sy, this.e20 * sz, this.e21 * sz, this.e22 * sz);
      }
    }, {
      key: "appendScale",
      value: function appendScale(sx, sy, sz) {
        return new oimo.common.Mat3(this.e00 * sx, this.e01 * sy, this.e02 * sz, this.e10 * sx, this.e11 * sy, this.e12 * sz, this.e20 * sx, this.e21 * sy, this.e22 * sz);
      }
    }, {
      key: "prependRotation",
      value: function prependRotation(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        return new oimo.common.Mat3(r00 * this.e00 + r01 * this.e10 + r02 * this.e20, r00 * this.e01 + r01 * this.e11 + r02 * this.e21, r00 * this.e02 + r01 * this.e12 + r02 * this.e22, r10 * this.e00 + r11 * this.e10 + r12 * this.e20, r10 * this.e01 + r11 * this.e11 + r12 * this.e21, r10 * this.e02 + r11 * this.e12 + r12 * this.e22, r20 * this.e00 + r21 * this.e10 + r22 * this.e20, r20 * this.e01 + r21 * this.e11 + r22 * this.e21, r20 * this.e02 + r21 * this.e12 + r22 * this.e22);
      }
    }, {
      key: "appendRotation",
      value: function appendRotation(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        return new oimo.common.Mat3(this.e00 * r00 + this.e01 * r10 + this.e02 * r20, this.e00 * r01 + this.e01 * r11 + this.e02 * r21, this.e00 * r02 + this.e01 * r12 + this.e02 * r22, this.e10 * r00 + this.e11 * r10 + this.e12 * r20, this.e10 * r01 + this.e11 * r11 + this.e12 * r21, this.e10 * r02 + this.e11 * r12 + this.e12 * r22, this.e20 * r00 + this.e21 * r10 + this.e22 * r20, this.e20 * r01 + this.e21 * r11 + this.e22 * r21, this.e20 * r02 + this.e21 * r12 + this.e22 * r22);
      }
    }, {
      key: "prependScaleEq",
      value: function prependScaleEq(sx, sy, sz) {
        this.e00 *= sx;
        this.e01 *= sx;
        this.e02 *= sx;
        this.e10 *= sy;
        this.e11 *= sy;
        this.e12 *= sy;
        this.e20 *= sz;
        this.e21 *= sz;
        this.e22 *= sz;
        return this;
      }
    }, {
      key: "appendScaleEq",
      value: function appendScaleEq(sx, sy, sz) {
        this.e00 *= sx;
        this.e01 *= sy;
        this.e02 *= sz;
        this.e10 *= sx;
        this.e11 *= sy;
        this.e12 *= sz;
        this.e20 *= sx;
        this.e21 *= sy;
        this.e22 *= sz;
        return this;
      }
    }, {
      key: "prependRotationEq",
      value: function prependRotationEq(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        var e10 = r10 * this.e00 + r11 * this.e10 + r12 * this.e20;
        var e11 = r10 * this.e01 + r11 * this.e11 + r12 * this.e21;
        var e12 = r10 * this.e02 + r11 * this.e12 + r12 * this.e22;
        var e20 = r20 * this.e00 + r21 * this.e10 + r22 * this.e20;
        var e21 = r20 * this.e01 + r21 * this.e11 + r22 * this.e21;
        var e22 = r20 * this.e02 + r21 * this.e12 + r22 * this.e22;
        this.e00 = r00 * this.e00 + r01 * this.e10 + r02 * this.e20;
        this.e01 = r00 * this.e01 + r01 * this.e11 + r02 * this.e21;
        this.e02 = r00 * this.e02 + r01 * this.e12 + r02 * this.e22;
        this.e10 = e10;
        this.e11 = e11;
        this.e12 = e12;
        this.e20 = e20;
        this.e21 = e21;
        this.e22 = e22;
        return this;
      }
    }, {
      key: "appendRotationEq",
      value: function appendRotationEq(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        var e01 = this.e00 * r01 + this.e01 * r11 + this.e02 * r21;
        var e02 = this.e00 * r02 + this.e01 * r12 + this.e02 * r22;
        var e11 = this.e10 * r01 + this.e11 * r11 + this.e12 * r21;
        var e12 = this.e10 * r02 + this.e11 * r12 + this.e12 * r22;
        var e21 = this.e20 * r01 + this.e21 * r11 + this.e22 * r21;
        var e22 = this.e20 * r02 + this.e21 * r12 + this.e22 * r22;
        this.e00 = this.e00 * r00 + this.e01 * r10 + this.e02 * r20;
        this.e01 = e01;
        this.e02 = e02;
        this.e10 = this.e10 * r00 + this.e11 * r10 + this.e12 * r20;
        this.e11 = e11;
        this.e12 = e12;
        this.e20 = this.e20 * r00 + this.e21 * r10 + this.e22 * r20;
        this.e21 = e21;
        this.e22 = e22;
        return this;
      }
    }, {
      key: "transpose",
      value: function transpose() {
        return new oimo.common.Mat3(this.e00, this.e10, this.e20, this.e01, this.e11, this.e21, this.e02, this.e12, this.e22);
      }
    }, {
      key: "transposeEq",
      value: function transposeEq() {
        var e10 = this.e01;
        var e20 = this.e02;
        var e21 = this.e12;
        this.e01 = this.e10;
        this.e02 = this.e20;
        this.e10 = e10;
        this.e12 = this.e21;
        this.e20 = e20;
        this.e21 = e21;
        return this;
      }
    }, {
      key: "determinant",
      value: function determinant() {
        return this.e00 * (this.e11 * this.e22 - this.e12 * this.e21) - this.e01 * (this.e10 * this.e22 - this.e12 * this.e20) + this.e02 * (this.e10 * this.e21 - this.e11 * this.e20);
      }
    }, {
      key: "trace",
      value: function trace() {
        return this.e00 + this.e11 + this.e22;
      }
    }, {
      key: "inverse",
      value: function inverse() {
        var d00 = this.e11 * this.e22 - this.e12 * this.e21;
        var d01 = this.e10 * this.e22 - this.e12 * this.e20;
        var d02 = this.e10 * this.e21 - this.e11 * this.e20;
        var invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02;

        if (invDet != 0) {
          invDet = 1 / invDet;
        }

        return new oimo.common.Mat3(d00 * invDet, -(this.e01 * this.e22 - this.e02 * this.e21) * invDet, (this.e01 * this.e12 - this.e02 * this.e11) * invDet, -d01 * invDet, (this.e00 * this.e22 - this.e02 * this.e20) * invDet, -(this.e00 * this.e12 - this.e02 * this.e10) * invDet, d02 * invDet, -(this.e00 * this.e21 - this.e01 * this.e20) * invDet, (this.e00 * this.e11 - this.e01 * this.e10) * invDet);
      }
    }, {
      key: "inverseEq",
      value: function inverseEq() {
        var d00 = this.e11 * this.e22 - this.e12 * this.e21;
        var d01 = this.e10 * this.e22 - this.e12 * this.e20;
        var d02 = this.e10 * this.e21 - this.e11 * this.e20;
        var invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02;

        if (invDet != 0) {
          invDet = 1 / invDet;
        }

        var t02 = (this.e01 * this.e12 - this.e02 * this.e11) * invDet;
        var t11 = (this.e00 * this.e22 - this.e02 * this.e20) * invDet;
        var t12 = -(this.e00 * this.e12 - this.e02 * this.e10) * invDet;
        var t21 = -(this.e00 * this.e21 - this.e01 * this.e20) * invDet;
        var t22 = (this.e00 * this.e11 - this.e01 * this.e10) * invDet;
        this.e00 = d00 * invDet;
        this.e01 = -(this.e01 * this.e22 - this.e02 * this.e21) * invDet;
        this.e02 = t02;
        this.e10 = -d01 * invDet;
        this.e11 = t11;
        this.e12 = t12;
        this.e20 = d02 * invDet;
        this.e21 = t21;
        this.e22 = t22;
        return this;
      }
    }, {
      key: "toArray",
      value: function toArray(columnMajor) {
        if (columnMajor == null) {
          columnMajor = false;
        }

        if (columnMajor) {
          return [this.e00, this.e10, this.e20, this.e01, this.e11, this.e21, this.e02, this.e12, this.e22];
        } else {
          return [this.e00, this.e01, this.e02, this.e10, this.e11, this.e12, this.e20, this.e21, this.e22];
        }
      }
    }, {
      key: "copyFrom",
      value: function copyFrom(m) {
        this.e00 = m.e00;
        this.e01 = m.e01;
        this.e02 = m.e02;
        this.e10 = m.e10;
        this.e11 = m.e11;
        this.e12 = m.e12;
        this.e20 = m.e20;
        this.e21 = m.e21;
        this.e22 = m.e22;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        return new oimo.common.Mat3(this.e00, this.e01, this.e02, this.e10, this.e11, this.e12, this.e20, this.e21, this.e22);
      }
    }, {
      key: "fromQuat",
      value: function fromQuat(q) {
        var x = q.x;
        var y = q.y;
        var z = q.z;
        var w = q.w;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        this.e00 = 1 - yy - zz;
        this.e01 = xy - wz;
        this.e02 = xz + wy;
        this.e10 = xy + wz;
        this.e11 = 1 - xx - zz;
        this.e12 = yz - wx;
        this.e20 = xz - wy;
        this.e21 = yz + wx;
        this.e22 = 1 - xx - yy;
        return this;
      }
    }, {
      key: "toQuat",
      value: function toQuat() {
        var _this = new oimo.common.Quat();

        var e00 = this.e00;
        var e11 = this.e11;
        var e22 = this.e22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          _this.w = 0.5 * s;
          s = 0.5 / s;
          _this.x = (this.e21 - this.e12) * s;
          _this.y = (this.e02 - this.e20) * s;
          _this.z = (this.e10 - this.e01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            _this.x = 0.5 * s;
            s = 0.5 / s;
            _this.y = (this.e01 + this.e10) * s;
            _this.z = (this.e02 + this.e20) * s;
            _this.w = (this.e21 - this.e12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            _this.z = 0.5 * s;
            s = 0.5 / s;
            _this.x = (this.e02 + this.e20) * s;
            _this.y = (this.e12 + this.e21) * s;
            _this.w = (this.e10 - this.e01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          _this.y = 0.5 * s;
          s = 0.5 / s;
          _this.x = (this.e01 + this.e10) * s;
          _this.z = (this.e12 + this.e21) * s;
          _this.w = (this.e02 - this.e20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          _this.z = 0.5 * s;
          s = 0.5 / s;
          _this.x = (this.e02 + this.e20) * s;
          _this.y = (this.e12 + this.e21) * s;
          _this.w = (this.e10 - this.e01) * s;
        }

        return _this;
      }
    }, {
      key: "fromEulerXyz",
      value: function fromEulerXyz(eulerAngles) {
        var sx = Math.sin(eulerAngles.x);
        var sy = Math.sin(eulerAngles.y);
        var sz = Math.sin(eulerAngles.z);
        var cx = Math.cos(eulerAngles.x);
        var cy = Math.cos(eulerAngles.y);
        var cz = Math.cos(eulerAngles.z);
        this.e00 = cy * cz;
        this.e01 = -cy * sz;
        this.e02 = sy;
        this.e10 = cx * sz + cz * sx * sy;
        this.e11 = cx * cz - sx * sy * sz;
        this.e12 = -cy * sx;
        this.e20 = sx * sz - cx * cz * sy;
        this.e21 = cz * sx + cx * sy * sz;
        this.e22 = cx * cy;
        return this;
      }
    }, {
      key: "toEulerXyz",
      value: function toEulerXyz() {
        var sy = this.e02;

        if (sy <= -1) {
          var xSubZ = Math.atan2(this.e21, this.e11);
          return new oimo.common.Vec3(xSubZ * 0.5, -1.570796326794895, -xSubZ * 0.5);
        }

        if (sy >= 1) {
          var xAddZ = Math.atan2(this.e21, this.e11);
          return new oimo.common.Vec3(xAddZ * 0.5, 1.570796326794895, xAddZ * 0.5);
        }

        return new oimo.common.Vec3(Math.atan2(-this.e12, this.e22), Math.asin(sy), Math.atan2(-this.e01, this.e00));
      }
    }, {
      key: "getRow",
      value: function getRow(index) {
        if (index == 0) {
          return new oimo.common.Vec3(this.e00, this.e01, this.e02);
        } else if (index == 1) {
          return new oimo.common.Vec3(this.e10, this.e11, this.e12);
        } else if (index == 2) {
          return new oimo.common.Vec3(this.e20, this.e21, this.e22);
        } else {
          return null;
        }
      }
    }, {
      key: "getCol",
      value: function getCol(index) {
        if (index == 0) {
          return new oimo.common.Vec3(this.e00, this.e10, this.e20);
        } else if (index == 1) {
          return new oimo.common.Vec3(this.e01, this.e11, this.e21);
        } else if (index == 2) {
          return new oimo.common.Vec3(this.e02, this.e12, this.e22);
        } else {
          return null;
        }
      }
    }, {
      key: "getRowTo",
      value: function getRowTo(index, dst) {
        if (index == 0) {
          dst.init(this.e00, this.e01, this.e02);
        } else if (index == 1) {
          dst.init(this.e10, this.e11, this.e12);
        } else if (index == 2) {
          dst.init(this.e20, this.e21, this.e22);
        } else {
          dst.zero();
        }
      }
    }, {
      key: "getColTo",
      value: function getColTo(index, dst) {
        if (index == 0) {
          dst.init(this.e00, this.e10, this.e20);
        } else if (index == 1) {
          dst.init(this.e01, this.e11, this.e21);
        } else if (index == 2) {
          dst.init(this.e02, this.e12, this.e22);
        } else {
          dst.zero();
        }
      }
    }, {
      key: "fromRows",
      value: function fromRows(row0, row1, row2) {
        this.e00 = row0.x;
        this.e01 = row0.y;
        this.e02 = row0.z;
        this.e10 = row1.x;
        this.e11 = row1.y;
        this.e12 = row1.z;
        this.e20 = row2.x;
        this.e21 = row2.y;
        this.e22 = row2.z;
        return this;
      }
    }, {
      key: "fromCols",
      value: function fromCols(col0, col1, col2) {
        this.e00 = col0.x;
        this.e01 = col1.x;
        this.e02 = col2.x;
        this.e10 = col0.y;
        this.e11 = col1.y;
        this.e12 = col2.y;
        this.e20 = col0.z;
        this.e21 = col1.z;
        this.e22 = col2.z;
        return this;
      }
    }, {
      key: "toString",
      value: function toString() {
        return "Mat3[" + (this.e00 > 0 ? (this.e00 * 10000000 + 0.5 | 0) / 10000000 : (this.e00 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e01 > 0 ? (this.e01 * 10000000 + 0.5 | 0) / 10000000 : (this.e01 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e02 > 0 ? (this.e02 * 10000000 + 0.5 | 0) / 10000000 : (this.e02 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "     " + (this.e10 > 0 ? (this.e10 * 10000000 + 0.5 | 0) / 10000000 : (this.e10 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e11 > 0 ? (this.e11 * 10000000 + 0.5 | 0) / 10000000 : (this.e11 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e12 > 0 ? (this.e12 * 10000000 + 0.5 | 0) / 10000000 : (this.e12 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "     " + (this.e20 > 0 ? (this.e20 * 10000000 + 0.5 | 0) / 10000000 : (this.e20 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e21 > 0 ? (this.e21 * 10000000 + 0.5 | 0) / 10000000 : (this.e21 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e22 > 0 ? (this.e22 * 10000000 + 0.5 | 0) / 10000000 : (this.e22 * 10000000 - 0.5 | 0) / 10000000) + "]";
      }
    }]);

    return oimo_common_Mat3;
  }();

  oimo.common.Mat4 = /*#__PURE__*/function () {
    function oimo_common_Mat4(e00, e01, e02, e03, e10, e11, e12, e13, e20, e21, e22, e23, e30, e31, e32, e33) {
      _classCallCheck(this, oimo_common_Mat4);

      if (e33 == null) {
        e33 = 1;
      }

      if (e32 == null) {
        e32 = 0;
      }

      if (e31 == null) {
        e31 = 0;
      }

      if (e30 == null) {
        e30 = 0;
      }

      if (e23 == null) {
        e23 = 0;
      }

      if (e22 == null) {
        e22 = 1;
      }

      if (e21 == null) {
        e21 = 0;
      }

      if (e20 == null) {
        e20 = 0;
      }

      if (e13 == null) {
        e13 = 0;
      }

      if (e12 == null) {
        e12 = 0;
      }

      if (e11 == null) {
        e11 = 1;
      }

      if (e10 == null) {
        e10 = 0;
      }

      if (e03 == null) {
        e03 = 0;
      }

      if (e02 == null) {
        e02 = 0;
      }

      if (e01 == null) {
        e01 = 0;
      }

      if (e00 == null) {
        e00 = 1;
      }

      this.e00 = e00;
      this.e01 = e01;
      this.e02 = e02;
      this.e03 = e03;
      this.e10 = e10;
      this.e11 = e11;
      this.e12 = e12;
      this.e13 = e13;
      this.e20 = e20;
      this.e21 = e21;
      this.e22 = e22;
      this.e23 = e23;
      this.e30 = e30;
      this.e31 = e31;
      this.e32 = e32;
      this.e33 = e33;
      oimo.common.Mat4.numCreations++;
    }

    _createClass(oimo_common_Mat4, [{
      key: "init",
      value: function init(e00, e01, e02, e03, e10, e11, e12, e13, e20, e21, e22, e23, e30, e31, e32, e33) {
        this.e00 = e00;
        this.e01 = e01;
        this.e02 = e02;
        this.e03 = e03;
        this.e10 = e10;
        this.e11 = e11;
        this.e12 = e12;
        this.e13 = e13;
        this.e20 = e20;
        this.e21 = e21;
        this.e22 = e22;
        this.e23 = e23;
        this.e30 = e30;
        this.e31 = e31;
        this.e32 = e32;
        this.e33 = e33;
        return this;
      }
    }, {
      key: "identity",
      value: function identity() {
        this.e00 = 1;
        this.e01 = 0;
        this.e02 = 0;
        this.e03 = 0;
        this.e10 = 0;
        this.e11 = 1;
        this.e12 = 0;
        this.e13 = 0;
        this.e20 = 0;
        this.e21 = 0;
        this.e22 = 1;
        this.e23 = 0;
        this.e30 = 0;
        this.e31 = 0;
        this.e32 = 0;
        this.e33 = 1;
        return this;
      }
    }, {
      key: "add",
      value: function add(m) {
        return new oimo.common.Mat4(this.e00 + m.e00, this.e01 + m.e01, this.e02 + m.e02, this.e03 + m.e03, this.e10 + m.e10, this.e11 + m.e11, this.e12 + m.e12, this.e13 + m.e13, this.e20 + m.e20, this.e21 + m.e21, this.e22 + m.e22, this.e23 + m.e23, this.e30 + m.e30, this.e31 + m.e31, this.e32 + m.e32, this.e33 + m.e33);
      }
    }, {
      key: "sub",
      value: function sub(m) {
        return new oimo.common.Mat4(this.e00 - m.e00, this.e01 - m.e01, this.e02 - m.e02, this.e03 - m.e03, this.e10 - m.e10, this.e11 - m.e11, this.e12 - m.e12, this.e13 - m.e13, this.e20 - m.e20, this.e21 - m.e21, this.e22 - m.e22, this.e23 - m.e23, this.e30 - m.e30, this.e31 - m.e31, this.e32 - m.e32, this.e33 - m.e33);
      }
    }, {
      key: "scale",
      value: function scale(s) {
        return new oimo.common.Mat4(this.e00 * s, this.e01 * s, this.e02 * s, this.e03 * s, this.e10 * s, this.e11 * s, this.e12 * s, this.e13 * s, this.e20 * s, this.e21 * s, this.e22 * s, this.e23 * s, this.e30 * s, this.e31 * s, this.e32 * s, this.e33 * s);
      }
    }, {
      key: "mul",
      value: function mul(m) {
        return new oimo.common.Mat4(this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20 + this.e03 * m.e30, this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21 + this.e03 * m.e31, this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22 + this.e03 * m.e32, this.e00 * m.e03 + this.e01 * m.e13 + this.e02 * m.e23 + this.e03 * m.e33, this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20 + this.e13 * m.e30, this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21 + this.e13 * m.e31, this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22 + this.e13 * m.e32, this.e10 * m.e03 + this.e11 * m.e13 + this.e12 * m.e23 + this.e13 * m.e33, this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20 + this.e23 * m.e30, this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21 + this.e23 * m.e31, this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22 + this.e23 * m.e32, this.e20 * m.e03 + this.e21 * m.e13 + this.e22 * m.e23 + this.e23 * m.e33, this.e30 * m.e00 + this.e31 * m.e10 + this.e32 * m.e20 + this.e33 * m.e30, this.e30 * m.e01 + this.e31 * m.e11 + this.e32 * m.e21 + this.e33 * m.e31, this.e30 * m.e02 + this.e31 * m.e12 + this.e32 * m.e22 + this.e33 * m.e32, this.e30 * m.e03 + this.e31 * m.e13 + this.e32 * m.e23 + this.e33 * m.e33);
      }
    }, {
      key: "addEq",
      value: function addEq(m) {
        this.e00 += m.e00;
        this.e01 += m.e01;
        this.e02 += m.e02;
        this.e03 += m.e03;
        this.e10 += m.e10;
        this.e11 += m.e11;
        this.e12 += m.e12;
        this.e13 += m.e13;
        this.e20 += m.e20;
        this.e21 += m.e21;
        this.e22 += m.e22;
        this.e23 += m.e23;
        this.e30 += m.e30;
        this.e31 += m.e31;
        this.e32 += m.e32;
        this.e33 += m.e33;
        return this;
      }
    }, {
      key: "subEq",
      value: function subEq(m) {
        this.e00 -= m.e00;
        this.e01 -= m.e01;
        this.e02 -= m.e02;
        this.e03 -= m.e03;
        this.e10 -= m.e10;
        this.e11 -= m.e11;
        this.e12 -= m.e12;
        this.e13 -= m.e13;
        this.e20 -= m.e20;
        this.e21 -= m.e21;
        this.e22 -= m.e22;
        this.e23 -= m.e23;
        this.e30 -= m.e30;
        this.e31 -= m.e31;
        this.e32 -= m.e32;
        this.e33 -= m.e33;
        return this;
      }
    }, {
      key: "scaleEq",
      value: function scaleEq(s) {
        this.e00 *= s;
        this.e01 *= s;
        this.e02 *= s;
        this.e03 *= s;
        this.e10 *= s;
        this.e11 *= s;
        this.e12 *= s;
        this.e13 *= s;
        this.e20 *= s;
        this.e21 *= s;
        this.e22 *= s;
        this.e23 *= s;
        this.e30 *= s;
        this.e31 *= s;
        this.e32 *= s;
        this.e33 *= s;
        return this;
      }
    }, {
      key: "mulEq",
      value: function mulEq(m) {
        var e01 = this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21 + this.e03 * m.e31;
        var e02 = this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22 + this.e03 * m.e32;
        var e03 = this.e00 * m.e03 + this.e01 * m.e13 + this.e02 * m.e23 + this.e03 * m.e33;
        var e10 = this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20 + this.e13 * m.e30;
        var e11 = this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21 + this.e13 * m.e31;
        var e12 = this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22 + this.e13 * m.e32;
        var e13 = this.e10 * m.e03 + this.e11 * m.e13 + this.e12 * m.e23 + this.e13 * m.e33;
        var e20 = this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20 + this.e23 * m.e30;
        var e21 = this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21 + this.e23 * m.e31;
        var e22 = this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22 + this.e23 * m.e32;
        var e23 = this.e20 * m.e03 + this.e21 * m.e13 + this.e22 * m.e23 + this.e23 * m.e33;
        var e30 = this.e30 * m.e00 + this.e31 * m.e10 + this.e32 * m.e20 + this.e33 * m.e30;
        var e31 = this.e30 * m.e01 + this.e31 * m.e11 + this.e32 * m.e21 + this.e33 * m.e31;
        var e32 = this.e30 * m.e02 + this.e31 * m.e12 + this.e32 * m.e22 + this.e33 * m.e32;
        var e33 = this.e30 * m.e03 + this.e31 * m.e13 + this.e32 * m.e23 + this.e33 * m.e33;
        this.e00 = this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20 + this.e03 * m.e30;
        this.e01 = e01;
        this.e02 = e02;
        this.e03 = e03;
        this.e10 = e10;
        this.e11 = e11;
        this.e12 = e12;
        this.e13 = e13;
        this.e20 = e20;
        this.e21 = e21;
        this.e22 = e22;
        this.e23 = e23;
        this.e30 = e30;
        this.e31 = e31;
        this.e32 = e32;
        this.e33 = e33;
        return this;
      }
    }, {
      key: "prependScale",
      value: function prependScale(sx, sy, sz) {
        return new oimo.common.Mat4(this.e00 * sx, this.e01 * sx, this.e02 * sx, this.e03 * sx, this.e10 * sy, this.e11 * sy, this.e12 * sy, this.e13 * sy, this.e20 * sz, this.e21 * sz, this.e22 * sz, this.e23 * sz, this.e30, this.e31, this.e32, this.e33);
      }
    }, {
      key: "appendScale",
      value: function appendScale(sx, sy, sz) {
        return new oimo.common.Mat4(this.e00 * sx, this.e01 * sy, this.e02 * sz, this.e03, this.e10 * sx, this.e11 * sy, this.e12 * sz, this.e13, this.e20 * sx, this.e21 * sy, this.e22 * sz, this.e23, this.e30 * sx, this.e31 * sy, this.e32 * sz, this.e33);
      }
    }, {
      key: "prependRotation",
      value: function prependRotation(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        return new oimo.common.Mat4(r00 * this.e00 + r01 * this.e10 + r02 * this.e20, r00 * this.e01 + r01 * this.e11 + r02 * this.e21, r00 * this.e02 + r01 * this.e12 + r02 * this.e22, r00 * this.e03 + r01 * this.e13 + r02 * this.e23, r10 * this.e00 + r11 * this.e10 + r12 * this.e20, r10 * this.e01 + r11 * this.e11 + r12 * this.e21, r10 * this.e02 + r11 * this.e12 + r12 * this.e22, r10 * this.e03 + r11 * this.e13 + r12 * this.e23, r20 * this.e00 + r21 * this.e10 + r22 * this.e20, r20 * this.e01 + r21 * this.e11 + r22 * this.e21, r20 * this.e02 + r21 * this.e12 + r22 * this.e22, r20 * this.e03 + r21 * this.e13 + r22 * this.e23, this.e30, this.e31, this.e32, this.e33);
      }
    }, {
      key: "appendRotation",
      value: function appendRotation(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        return new oimo.common.Mat4(this.e00 * r00 + this.e01 * r10 + this.e02 * r20, this.e00 * r01 + this.e01 * r11 + this.e02 * r21, this.e00 * r02 + this.e01 * r12 + this.e02 * r22, this.e03, this.e10 * r00 + this.e11 * r10 + this.e12 * r20, this.e10 * r01 + this.e11 * r11 + this.e12 * r21, this.e10 * r02 + this.e11 * r12 + this.e12 * r22, this.e13, this.e20 * r00 + this.e21 * r10 + this.e22 * r20, this.e20 * r01 + this.e21 * r11 + this.e22 * r21, this.e20 * r02 + this.e21 * r12 + this.e22 * r22, this.e23, this.e30 * r00 + this.e31 * r10 + this.e32 * r20, this.e30 * r01 + this.e31 * r11 + this.e32 * r21, this.e30 * r02 + this.e31 * r12 + this.e32 * r22, this.e33);
      }
    }, {
      key: "prependTranslation",
      value: function prependTranslation(tx, ty, tz) {
        return new oimo.common.Mat4(this.e00 + tx * this.e30, this.e01 + tx * this.e31, this.e02 + tx * this.e32, this.e03 + tx * this.e33, this.e10 + ty * this.e30, this.e11 + ty * this.e31, this.e12 + ty * this.e32, this.e13 + ty * this.e33, this.e20 + tz * this.e30, this.e21 + tz * this.e31, this.e22 + tz * this.e32, this.e23 + tz * this.e33, this.e30, this.e31, this.e32, this.e33);
      }
    }, {
      key: "appendTranslation",
      value: function appendTranslation(tx, ty, tz) {
        return new oimo.common.Mat4(this.e00, this.e01, this.e02, this.e00 * tx + this.e01 * ty + this.e02 * tz + this.e03, this.e10, this.e11, this.e12, this.e10 * tx + this.e11 * ty + this.e12 * tz + this.e13, this.e20, this.e21, this.e22, this.e20 * tx + this.e21 * ty + this.e22 * tz + this.e23, this.e30, this.e31, this.e32, this.e30 * tx + this.e31 * ty + this.e32 * tz + this.e33);
      }
    }, {
      key: "prependScaleEq",
      value: function prependScaleEq(sx, sy, sz) {
        this.e00 *= sx;
        this.e01 *= sx;
        this.e02 *= sx;
        this.e03 *= sx;
        this.e10 *= sy;
        this.e11 *= sy;
        this.e12 *= sy;
        this.e13 *= sy;
        this.e20 *= sz;
        this.e21 *= sz;
        this.e22 *= sz;
        this.e23 *= sz;
        return this;
      }
    }, {
      key: "appendScaleEq",
      value: function appendScaleEq(sx, sy, sz) {
        this.e00 *= sx;
        this.e01 *= sy;
        this.e02 *= sz;
        this.e10 *= sx;
        this.e11 *= sy;
        this.e12 *= sz;
        this.e20 *= sx;
        this.e21 *= sy;
        this.e22 *= sz;
        this.e30 *= sx;
        this.e31 *= sy;
        this.e32 *= sz;
        return this;
      }
    }, {
      key: "prependRotationEq",
      value: function prependRotationEq(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        var e10 = r10 * this.e00 + r11 * this.e10 + r12 * this.e20;
        var e11 = r10 * this.e01 + r11 * this.e11 + r12 * this.e21;
        var e12 = r10 * this.e02 + r11 * this.e12 + r12 * this.e22;
        var e13 = r10 * this.e03 + r11 * this.e13 + r12 * this.e23;
        var e20 = r20 * this.e00 + r21 * this.e10 + r22 * this.e20;
        var e21 = r20 * this.e01 + r21 * this.e11 + r22 * this.e21;
        var e22 = r20 * this.e02 + r21 * this.e12 + r22 * this.e22;
        var e23 = r20 * this.e03 + r21 * this.e13 + r22 * this.e23;
        this.e00 = r00 * this.e00 + r01 * this.e10 + r02 * this.e20;
        this.e01 = r00 * this.e01 + r01 * this.e11 + r02 * this.e21;
        this.e02 = r00 * this.e02 + r01 * this.e12 + r02 * this.e22;
        this.e03 = r00 * this.e03 + r01 * this.e13 + r02 * this.e23;
        this.e10 = e10;
        this.e11 = e11;
        this.e12 = e12;
        this.e13 = e13;
        this.e20 = e20;
        this.e21 = e21;
        this.e22 = e22;
        this.e23 = e23;
        return this;
      }
    }, {
      key: "appendRotationEq",
      value: function appendRotationEq(rad, axisX, axisY, axisZ) {
        var s = Math.sin(rad);
        var c = Math.cos(rad);
        var c1 = 1 - c;
        var r00 = axisX * axisX * c1 + c;
        var r01 = axisX * axisY * c1 - axisZ * s;
        var r02 = axisX * axisZ * c1 + axisY * s;
        var r10 = axisY * axisX * c1 + axisZ * s;
        var r11 = axisY * axisY * c1 + c;
        var r12 = axisY * axisZ * c1 - axisX * s;
        var r20 = axisZ * axisX * c1 - axisY * s;
        var r21 = axisZ * axisY * c1 + axisX * s;
        var r22 = axisZ * axisZ * c1 + c;
        var e01 = this.e00 * r01 + this.e01 * r11 + this.e02 * r21;
        var e02 = this.e00 * r02 + this.e01 * r12 + this.e02 * r22;
        var e11 = this.e10 * r01 + this.e11 * r11 + this.e12 * r21;
        var e12 = this.e10 * r02 + this.e11 * r12 + this.e12 * r22;
        var e21 = this.e20 * r01 + this.e21 * r11 + this.e22 * r21;
        var e22 = this.e20 * r02 + this.e21 * r12 + this.e22 * r22;
        var e31 = this.e30 * r01 + this.e31 * r11 + this.e32 * r21;
        var e32 = this.e30 * r02 + this.e31 * r12 + this.e32 * r22;
        this.e00 = this.e00 * r00 + this.e01 * r10 + this.e02 * r20;
        this.e01 = e01;
        this.e02 = e02;
        this.e10 = this.e10 * r00 + this.e11 * r10 + this.e12 * r20;
        this.e11 = e11;
        this.e12 = e12;
        this.e20 = this.e20 * r00 + this.e21 * r10 + this.e22 * r20;
        this.e21 = e21;
        this.e22 = e22;
        this.e30 = this.e30 * r00 + this.e31 * r10 + this.e32 * r20;
        this.e31 = e31;
        this.e32 = e32;
        return this;
      }
    }, {
      key: "prependTranslationEq",
      value: function prependTranslationEq(tx, ty, tz) {
        this.e00 += tx * this.e30;
        this.e01 += tx * this.e31;
        this.e02 += tx * this.e32;
        this.e03 += tx * this.e33;
        this.e10 += ty * this.e30;
        this.e11 += ty * this.e31;
        this.e12 += ty * this.e32;
        this.e13 += ty * this.e33;
        this.e20 += tz * this.e30;
        this.e21 += tz * this.e31;
        this.e22 += tz * this.e32;
        this.e23 += tz * this.e33;
        return this;
      }
    }, {
      key: "appendTranslationEq",
      value: function appendTranslationEq(tx, ty, tz) {
        var e03 = this.e00 * tx + this.e01 * ty + this.e02 * tz + this.e03;
        var e13 = this.e10 * tx + this.e11 * ty + this.e12 * tz + this.e13;
        var e23 = this.e20 * tx + this.e21 * ty + this.e22 * tz + this.e23;
        var e33 = this.e30 * tx + this.e31 * ty + this.e32 * tz + this.e33;
        this.e03 = e03;
        this.e13 = e13;
        this.e23 = e23;
        this.e33 = e33;
        return this;
      }
    }, {
      key: "transpose",
      value: function transpose() {
        return new oimo.common.Mat4(this.e00, this.e10, this.e20, this.e30, this.e01, this.e11, this.e21, this.e31, this.e02, this.e12, this.e22, this.e32, this.e03, this.e13, this.e23, this.e33);
      }
    }, {
      key: "transposeEq",
      value: function transposeEq() {
        var e10 = this.e01;
        var e20 = this.e02;
        var e21 = this.e12;
        var e30 = this.e03;
        var e31 = this.e13;
        var e32 = this.e23;
        this.e01 = this.e10;
        this.e02 = this.e20;
        this.e03 = this.e30;
        this.e10 = e10;
        this.e12 = this.e21;
        this.e13 = this.e31;
        this.e20 = e20;
        this.e21 = e21;
        this.e23 = this.e32;
        this.e30 = e30;
        this.e31 = e31;
        this.e32 = e32;
        return this;
      }
    }, {
      key: "determinant",
      value: function determinant() {
        var d23_01 = this.e20 * this.e31 - this.e21 * this.e30;
        var d23_02 = this.e20 * this.e32 - this.e22 * this.e30;
        var d23_03 = this.e20 * this.e33 - this.e23 * this.e30;
        var d23_12 = this.e21 * this.e32 - this.e22 * this.e31;
        var d23_13 = this.e21 * this.e33 - this.e23 * this.e31;
        var d23_23 = this.e22 * this.e33 - this.e23 * this.e32;
        return this.e00 * (this.e11 * d23_23 - this.e12 * d23_13 + this.e13 * d23_12) - this.e01 * (this.e10 * d23_23 - this.e12 * d23_03 + this.e13 * d23_02) + this.e02 * (this.e10 * d23_13 - this.e11 * d23_03 + this.e13 * d23_01) - this.e03 * (this.e10 * d23_12 - this.e11 * d23_02 + this.e12 * d23_01);
      }
    }, {
      key: "trace",
      value: function trace() {
        return this.e00 + this.e11 + this.e22 + this.e33;
      }
    }, {
      key: "inverse",
      value: function inverse() {
        var d01_01 = this.e00 * this.e11 - this.e01 * this.e10;
        var d01_02 = this.e00 * this.e12 - this.e02 * this.e10;
        var d01_03 = this.e00 * this.e13 - this.e03 * this.e10;
        var d01_12 = this.e01 * this.e12 - this.e02 * this.e11;
        var d01_13 = this.e01 * this.e13 - this.e03 * this.e11;
        var d01_23 = this.e02 * this.e13 - this.e03 * this.e12;
        var d23_01 = this.e20 * this.e31 - this.e21 * this.e30;
        var d23_02 = this.e20 * this.e32 - this.e22 * this.e30;
        var d23_03 = this.e20 * this.e33 - this.e23 * this.e30;
        var d23_12 = this.e21 * this.e32 - this.e22 * this.e31;
        var d23_13 = this.e21 * this.e33 - this.e23 * this.e31;
        var d23_23 = this.e22 * this.e33 - this.e23 * this.e32;
        var d00 = this.e11 * d23_23 - this.e12 * d23_13 + this.e13 * d23_12;
        var d01 = this.e10 * d23_23 - this.e12 * d23_03 + this.e13 * d23_02;
        var d02 = this.e10 * d23_13 - this.e11 * d23_03 + this.e13 * d23_01;
        var d03 = this.e10 * d23_12 - this.e11 * d23_02 + this.e12 * d23_01;
        var invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02 - this.e03 * d03;

        if (invDet != 0) {
          invDet = 1 / invDet;
        }

        return new oimo.common.Mat4(d00 * invDet, -(this.e01 * d23_23 - this.e02 * d23_13 + this.e03 * d23_12) * invDet, (this.e31 * d01_23 - this.e32 * d01_13 + this.e33 * d01_12) * invDet, -(this.e21 * d01_23 - this.e22 * d01_13 + this.e23 * d01_12) * invDet, -d01 * invDet, (this.e00 * d23_23 - this.e02 * d23_03 + this.e03 * d23_02) * invDet, -(this.e30 * d01_23 - this.e32 * d01_03 + this.e33 * d01_02) * invDet, (this.e20 * d01_23 - this.e22 * d01_03 + this.e23 * d01_02) * invDet, d02 * invDet, -(this.e00 * d23_13 - this.e01 * d23_03 + this.e03 * d23_01) * invDet, (this.e30 * d01_13 - this.e31 * d01_03 + this.e33 * d01_01) * invDet, -(this.e20 * d01_13 - this.e21 * d01_03 + this.e23 * d01_01) * invDet, -d03 * invDet, (this.e00 * d23_12 - this.e01 * d23_02 + this.e02 * d23_01) * invDet, -(this.e30 * d01_12 - this.e31 * d01_02 + this.e32 * d01_01) * invDet, (this.e20 * d01_12 - this.e21 * d01_02 + this.e22 * d01_01) * invDet);
      }
    }, {
      key: "inverseEq",
      value: function inverseEq() {
        var d01_01 = this.e00 * this.e11 - this.e01 * this.e10;
        var d01_02 = this.e00 * this.e12 - this.e02 * this.e10;
        var d01_03 = this.e00 * this.e13 - this.e03 * this.e10;
        var d01_12 = this.e01 * this.e12 - this.e02 * this.e11;
        var d01_13 = this.e01 * this.e13 - this.e03 * this.e11;
        var d01_23 = this.e02 * this.e13 - this.e03 * this.e12;
        var d23_01 = this.e20 * this.e31 - this.e21 * this.e30;
        var d23_02 = this.e20 * this.e32 - this.e22 * this.e30;
        var d23_03 = this.e20 * this.e33 - this.e23 * this.e30;
        var d23_12 = this.e21 * this.e32 - this.e22 * this.e31;
        var d23_13 = this.e21 * this.e33 - this.e23 * this.e31;
        var d23_23 = this.e22 * this.e33 - this.e23 * this.e32;
        var d00 = this.e11 * d23_23 - this.e12 * d23_13 + this.e13 * d23_12;
        var d01 = this.e10 * d23_23 - this.e12 * d23_03 + this.e13 * d23_02;
        var d02 = this.e10 * d23_13 - this.e11 * d23_03 + this.e13 * d23_01;
        var d03 = this.e10 * d23_12 - this.e11 * d23_02 + this.e12 * d23_01;
        var invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02 - this.e03 * d03;

        if (invDet != 0) {
          invDet = 1 / invDet;
        }

        var t11 = (this.e00 * d23_23 - this.e02 * d23_03 + this.e03 * d23_02) * invDet;
        var t21 = -(this.e00 * d23_13 - this.e01 * d23_03 + this.e03 * d23_01) * invDet;
        var t23 = -(this.e20 * d01_13 - this.e21 * d01_03 + this.e23 * d01_01) * invDet;
        var t31 = (this.e00 * d23_12 - this.e01 * d23_02 + this.e02 * d23_01) * invDet;
        var t32 = -(this.e30 * d01_12 - this.e31 * d01_02 + this.e32 * d01_01) * invDet;
        var t33 = (this.e20 * d01_12 - this.e21 * d01_02 + this.e22 * d01_01) * invDet;
        this.e00 = d00 * invDet;
        this.e01 = -(this.e01 * d23_23 - this.e02 * d23_13 + this.e03 * d23_12) * invDet;
        this.e02 = (this.e31 * d01_23 - this.e32 * d01_13 + this.e33 * d01_12) * invDet;
        this.e03 = -(this.e21 * d01_23 - this.e22 * d01_13 + this.e23 * d01_12) * invDet;
        this.e10 = -d01 * invDet;
        this.e11 = t11;
        this.e12 = -(this.e30 * d01_23 - this.e32 * d01_03 + this.e33 * d01_02) * invDet;
        this.e13 = (this.e20 * d01_23 - this.e22 * d01_03 + this.e23 * d01_02) * invDet;
        this.e20 = d02 * invDet;
        this.e21 = t21;
        this.e22 = (this.e30 * d01_13 - this.e31 * d01_03 + this.e33 * d01_01) * invDet;
        this.e23 = t23;
        this.e30 = -d03 * invDet;
        this.e31 = t31;
        this.e32 = t32;
        this.e33 = t33;
        return this;
      }
    }, {
      key: "lookAt",
      value: function lookAt(eyeX, eyeY, eyeZ, atX, atY, atZ, upX, upY, upZ) {
        var zx = eyeX - atX;
        var zy = eyeY - atY;
        var zz = eyeZ - atZ;
        var tmp = 1 / Math.sqrt(zx * zx + zy * zy + zz * zz);
        zx *= tmp;
        zy *= tmp;
        zz *= tmp;
        var xx = upY * zz - upZ * zy;
        var xy = upZ * zx - upX * zz;
        var xz = upX * zy - upY * zx;
        tmp = 1 / Math.sqrt(xx * xx + xy * xy + xz * xz);
        xx *= tmp;
        xy *= tmp;
        xz *= tmp;
        var yx = zy * xz - zz * xy;
        var yy = zz * xx - zx * xz;
        var yz = zx * xy - zy * xx;
        this.e00 = xx;
        this.e01 = xy;
        this.e02 = xz;
        this.e03 = -(xx * eyeX + xy * eyeY + xz * eyeZ);
        this.e10 = yx;
        this.e11 = yy;
        this.e12 = yz;
        this.e13 = -(yx * eyeX + yy * eyeY + yz * eyeZ);
        this.e20 = zx;
        this.e21 = zy;
        this.e22 = zz;
        this.e23 = -(zx * eyeX + zy * eyeY + zz * eyeZ);
        this.e30 = 0;
        this.e31 = 0;
        this.e32 = 0;
        this.e33 = 1;
        return this;
      }
    }, {
      key: "perspective",
      value: function perspective(fovY, aspect, near, far) {
        var h = 1 / Math.tan(fovY * 0.5);
        var fnf = far / (near - far);
        this.e00 = h / aspect;
        this.e01 = 0;
        this.e02 = 0;
        this.e03 = 0;
        this.e10 = 0;
        this.e11 = h;
        this.e12 = 0;
        this.e13 = 0;
        this.e20 = 0;
        this.e21 = 0;
        this.e22 = fnf;
        this.e23 = near * fnf;
        this.e30 = 0;
        this.e31 = 0;
        this.e32 = -1;
        this.e33 = 0;
        return this;
      }
    }, {
      key: "ortho",
      value: function ortho(width, height, near, far) {
        var nf = 1 / (near - far);
        this.e00 = 2 / width;
        this.e01 = 0;
        this.e02 = 0;
        this.e03 = 0;
        this.e10 = 0;
        this.e11 = 2 / height;
        this.e12 = 0;
        this.e13 = 0;
        this.e20 = 0;
        this.e21 = 0;
        this.e22 = nf;
        this.e23 = near * nf;
        this.e30 = 0;
        this.e31 = 0;
        this.e32 = 0;
        this.e33 = 1;
        return this;
      }
    }, {
      key: "toArray",
      value: function toArray(columnMajor) {
        if (columnMajor == null) {
          columnMajor = false;
        }

        if (columnMajor) {
          return [this.e00, this.e10, this.e20, this.e30, this.e01, this.e11, this.e21, this.e31, this.e02, this.e12, this.e22, this.e32, this.e03, this.e13, this.e23, this.e33];
        } else {
          return [this.e00, this.e01, this.e02, this.e03, this.e10, this.e11, this.e12, this.e13, this.e20, this.e21, this.e22, this.e23, this.e30, this.e31, this.e32, this.e33];
        }
      }
    }, {
      key: "copyFrom",
      value: function copyFrom(m) {
        this.e00 = m.e00;
        this.e01 = m.e01;
        this.e02 = m.e02;
        this.e03 = m.e03;
        this.e10 = m.e10;
        this.e11 = m.e11;
        this.e12 = m.e12;
        this.e13 = m.e13;
        this.e20 = m.e20;
        this.e21 = m.e21;
        this.e22 = m.e22;
        this.e23 = m.e23;
        this.e30 = m.e30;
        this.e31 = m.e31;
        this.e32 = m.e32;
        this.e33 = m.e33;
        return this;
      }
    }, {
      key: "fromMat3",
      value: function fromMat3(m) {
        this.e00 = m.e00;
        this.e01 = m.e01;
        this.e02 = m.e02;
        this.e03 = 0;
        this.e10 = m.e10;
        this.e11 = m.e11;
        this.e12 = m.e12;
        this.e13 = 0;
        this.e20 = m.e20;
        this.e21 = m.e21;
        this.e22 = m.e22;
        this.e23 = 0;
        this.e30 = 0;
        this.e31 = 0;
        this.e32 = 0;
        this.e33 = 1;
        return this;
      }
    }, {
      key: "fromTransform",
      value: function fromTransform(transform) {
        this.e00 = transform._rotation00;
        this.e01 = transform._rotation01;
        this.e02 = transform._rotation02;
        this.e10 = transform._rotation10;
        this.e11 = transform._rotation11;
        this.e12 = transform._rotation12;
        this.e20 = transform._rotation20;
        this.e21 = transform._rotation21;
        this.e22 = transform._rotation22;
        this.e03 = transform._positionX;
        this.e13 = transform._positionY;
        this.e23 = transform._positionZ;
        this.e30 = 0;
        this.e31 = 0;
        this.e32 = 0;
        this.e33 = 1;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        return new oimo.common.Mat4(this.e00, this.e01, this.e02, this.e03, this.e10, this.e11, this.e12, this.e13, this.e20, this.e21, this.e22, this.e23, this.e30, this.e31, this.e32, this.e33);
      }
    }, {
      key: "toString",
      value: function toString() {
        return "Mat4[" + (this.e00 > 0 ? (this.e00 * 10000000 + 0.5 | 0) / 10000000 : (this.e00 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e01 > 0 ? (this.e01 * 10000000 + 0.5 | 0) / 10000000 : (this.e01 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e02 > 0 ? (this.e02 * 10000000 + 0.5 | 0) / 10000000 : (this.e02 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e03 > 0 ? (this.e03 * 10000000 + 0.5 | 0) / 10000000 : (this.e03 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "    " + (this.e10 > 0 ? (this.e10 * 10000000 + 0.5 | 0) / 10000000 : (this.e10 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e11 > 0 ? (this.e11 * 10000000 + 0.5 | 0) / 10000000 : (this.e11 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e12 > 0 ? (this.e12 * 10000000 + 0.5 | 0) / 10000000 : (this.e12 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e13 > 0 ? (this.e13 * 10000000 + 0.5 | 0) / 10000000 : (this.e13 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "    " + (this.e20 > 0 ? (this.e20 * 10000000 + 0.5 | 0) / 10000000 : (this.e20 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e21 > 0 ? (this.e21 * 10000000 + 0.5 | 0) / 10000000 : (this.e21 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e22 > 0 ? (this.e22 * 10000000 + 0.5 | 0) / 10000000 : (this.e22 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e23 > 0 ? (this.e23 * 10000000 + 0.5 | 0) / 10000000 : (this.e23 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "    " + (this.e30 > 0 ? (this.e30 * 10000000 + 0.5 | 0) / 10000000 : (this.e30 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e31 > 0 ? (this.e31 * 10000000 + 0.5 | 0) / 10000000 : (this.e31 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e32 > 0 ? (this.e32 * 10000000 + 0.5 | 0) / 10000000 : (this.e32 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e33 > 0 ? (this.e33 * 10000000 + 0.5 | 0) / 10000000 : (this.e33 * 10000000 - 0.5 | 0) / 10000000) + "]";
      }
    }]);

    return oimo_common_Mat4;
  }();

  oimo.common.MathUtil = /*#__PURE__*/function () {
    function oimo_common_MathUtil() {
      _classCallCheck(this, oimo_common_MathUtil);
    }

    _createClass(oimo_common_MathUtil, null, [{
      key: "abs",
      value: function abs(x) {
        if (x > 0) {
          return x;
        } else {
          return -x;
        }
      }
    }, {
      key: "sin",
      value: function sin(x) {
        return Math.sin(x);
      }
    }, {
      key: "cos",
      value: function cos(x) {
        return Math.cos(x);
      }
    }, {
      key: "tan",
      value: function tan(x) {
        return Math.tan(x);
      }
    }, {
      key: "asin",
      value: function asin(x) {
        return Math.asin(x);
      }
    }, {
      key: "acos",
      value: function acos(x) {
        return Math.acos(x);
      }
    }, {
      key: "atan",
      value: function atan(x) {
        return Math.atan(x);
      }
    }, {
      key: "safeAsin",
      value: function safeAsin(x) {
        if (x <= -1) {
          return -1.570796326794895;
        }

        if (x >= 1) {
          return 1.570796326794895;
        }

        return Math.asin(x);
      }
    }, {
      key: "safeAcos",
      value: function safeAcos(x) {
        if (x <= -1) {
          return 3.14159265358979;
        }

        if (x >= 1) {
          return 0;
        }

        return Math.acos(x);
      }
    }, {
      key: "atan2",
      value: function atan2(y, x) {
        return Math.atan2(y, x);
      }
    }, {
      key: "sqrt",
      value: function sqrt(x) {
        return Math.sqrt(x);
      }
    }, {
      key: "clamp",
      value: function clamp(x, min, max) {
        if (x < min) {
          return min;
        } else if (x > max) {
          return max;
        } else {
          return x;
        }
      }
    }, {
      key: "rand",
      value: function rand() {
        return Math.random();
      }
    }, {
      key: "randIn",
      value: function randIn(min, max) {
        return min + Math.random() * (max - min);
      }
    }, {
      key: "randVec3In",
      value: function randVec3In(min, max) {
        return new oimo.common.Vec3(min + Math.random() * (max - min), min + Math.random() * (max - min), min + Math.random() * (max - min));
      }
    }, {
      key: "randVec3",
      value: function randVec3() {
        return new oimo.common.Vec3(-1 + Math.random() * 2, -1 + Math.random() * 2, -1 + Math.random() * 2);
      }
    }]);

    return oimo_common_MathUtil;
  }();

  oimo.common.Pool = /*#__PURE__*/function () {
    function oimo_common_Pool() {
      _classCallCheck(this, oimo_common_Pool);

      this.stackVec3 = new Array(256);
      this.sizeVec3 = 0;
      this.stackMat3 = new Array(256);
      this.sizeMat3 = 0;
      this.stackMat4 = new Array(256);
      this.sizeMat4 = 0;
      this.stackQuat = new Array(256);
      this.sizeQuat = 0;
    }

    _createClass(oimo_common_Pool, [{
      key: "vec3",
      value: function vec3() {
        if (this.sizeVec3 == 0) {
          return new oimo.common.Vec3();
        } else {
          return this.stackVec3[--this.sizeVec3];
        }
      }
    }, {
      key: "mat3",
      value: function mat3() {
        if (this.sizeMat3 == 0) {
          return new oimo.common.Mat3();
        } else {
          return this.stackMat3[--this.sizeMat3];
        }
      }
    }, {
      key: "mat4",
      value: function mat4() {
        if (this.sizeMat4 == 0) {
          return new oimo.common.Mat4();
        } else {
          return this.stackMat4[--this.sizeMat4];
        }
      }
    }, {
      key: "quat",
      value: function quat() {
        if (this.sizeQuat == 0) {
          return new oimo.common.Quat();
        } else {
          return this.stackQuat[--this.sizeQuat];
        }
      }
    }, {
      key: "dispose",
      value: function dispose(vec3, mat3, mat4, quat) {
        if (vec3 != null) {
          vec3.zero();

          if (this.sizeVec3 == this.stackVec3.length) {
            var newArray = new Array(this.sizeVec3 << 1);
            var _g = 0;
            var _g1 = this.sizeVec3;

            while (_g < _g1) {
              var i = _g++;
              newArray[i] = this.stackVec3[i];
              this.stackVec3[i] = null;
            }

            this.stackVec3 = newArray;
          }

          this.stackVec3[this.sizeVec3++] = vec3;
        }

        if (mat3 != null) {
          mat3.e00 = 1;
          mat3.e01 = 0;
          mat3.e02 = 0;
          mat3.e10 = 0;
          mat3.e11 = 1;
          mat3.e12 = 0;
          mat3.e20 = 0;
          mat3.e21 = 0;
          mat3.e22 = 1;

          if (this.sizeMat3 == this.stackMat3.length) {
            var _newArray = new Array(this.sizeMat3 << 1);

            var _g25 = 0;
            var _g26 = this.sizeMat3;

            while (_g25 < _g26) {
              var _i4 = _g25++;

              _newArray[_i4] = this.stackMat3[_i4];
              this.stackMat3[_i4] = null;
            }

            this.stackMat3 = _newArray;
          }

          this.stackMat3[this.sizeMat3++] = mat3;
        }

        if (mat4 != null) {
          mat4.e00 = 1;
          mat4.e01 = 0;
          mat4.e02 = 0;
          mat4.e03 = 0;
          mat4.e10 = 0;
          mat4.e11 = 1;
          mat4.e12 = 0;
          mat4.e13 = 0;
          mat4.e20 = 0;
          mat4.e21 = 0;
          mat4.e22 = 1;
          mat4.e23 = 0;
          mat4.e30 = 0;
          mat4.e31 = 0;
          mat4.e32 = 0;
          mat4.e33 = 1;

          if (this.sizeMat4 == this.stackMat4.length) {
            var _newArray2 = new Array(this.sizeMat4 << 1);

            var _g27 = 0;
            var _g28 = this.sizeMat4;

            while (_g27 < _g28) {
              var _i5 = _g27++;

              _newArray2[_i5] = this.stackMat4[_i5];
              this.stackMat4[_i5] = null;
            }

            this.stackMat4 = _newArray2;
          }

          this.stackMat4[this.sizeMat4++] = mat4;
        }

        if (quat != null) {
          quat.x = 0;
          quat.y = 0;
          quat.z = 0;
          quat.w = 1;

          if (this.sizeQuat == this.stackQuat.length) {
            var _newArray3 = new Array(this.sizeQuat << 1);

            var _g29 = 0;
            var _g30 = this.sizeQuat;

            while (_g29 < _g30) {
              var _i6 = _g29++;

              _newArray3[_i6] = this.stackQuat[_i6];
              this.stackQuat[_i6] = null;
            }

            this.stackQuat = _newArray3;
          }

          this.stackQuat[this.sizeQuat++] = quat;
        }
      }
    }, {
      key: "disposeVec3",
      value: function disposeVec3(v) {
        v.zero();

        if (this.sizeVec3 == this.stackVec3.length) {
          var newArray = new Array(this.sizeVec3 << 1);
          var _g = 0;
          var _g1 = this.sizeVec3;

          while (_g < _g1) {
            var i = _g++;
            newArray[i] = this.stackVec3[i];
            this.stackVec3[i] = null;
          }

          this.stackVec3 = newArray;
        }

        this.stackVec3[this.sizeVec3++] = v;
      }
    }, {
      key: "disposeMat3",
      value: function disposeMat3(m) {
        m.e00 = 1;
        m.e01 = 0;
        m.e02 = 0;
        m.e10 = 0;
        m.e11 = 1;
        m.e12 = 0;
        m.e20 = 0;
        m.e21 = 0;
        m.e22 = 1;

        if (this.sizeMat3 == this.stackMat3.length) {
          var newArray = new Array(this.sizeMat3 << 1);
          var _g = 0;
          var _g1 = this.sizeMat3;

          while (_g < _g1) {
            var i = _g++;
            newArray[i] = this.stackMat3[i];
            this.stackMat3[i] = null;
          }

          this.stackMat3 = newArray;
        }

        this.stackMat3[this.sizeMat3++] = m;
      }
    }, {
      key: "disposeMat4",
      value: function disposeMat4(m) {
        m.e00 = 1;
        m.e01 = 0;
        m.e02 = 0;
        m.e03 = 0;
        m.e10 = 0;
        m.e11 = 1;
        m.e12 = 0;
        m.e13 = 0;
        m.e20 = 0;
        m.e21 = 0;
        m.e22 = 1;
        m.e23 = 0;
        m.e30 = 0;
        m.e31 = 0;
        m.e32 = 0;
        m.e33 = 1;

        if (this.sizeMat4 == this.stackMat4.length) {
          var newArray = new Array(this.sizeMat4 << 1);
          var _g = 0;
          var _g1 = this.sizeMat4;

          while (_g < _g1) {
            var i = _g++;
            newArray[i] = this.stackMat4[i];
            this.stackMat4[i] = null;
          }

          this.stackMat4 = newArray;
        }

        this.stackMat4[this.sizeMat4++] = m;
      }
    }, {
      key: "disposeQuat",
      value: function disposeQuat(q) {
        q.x = 0;
        q.y = 0;
        q.z = 0;
        q.w = 1;

        if (this.sizeQuat == this.stackQuat.length) {
          var newArray = new Array(this.sizeQuat << 1);
          var _g = 0;
          var _g1 = this.sizeQuat;

          while (_g < _g1) {
            var i = _g++;
            newArray[i] = this.stackQuat[i];
            this.stackQuat[i] = null;
          }

          this.stackQuat = newArray;
        }

        this.stackQuat[this.sizeQuat++] = q;
      }
    }]);

    return oimo_common_Pool;
  }();

  oimo.common.Quat = /*#__PURE__*/function () {
    function oimo_common_Quat(x, y, z, w) {
      _classCallCheck(this, oimo_common_Quat);

      if (w == null) {
        w = 1;
      }

      if (z == null) {
        z = 0;
      }

      if (y == null) {
        y = 0;
      }

      if (x == null) {
        x = 0;
      }

      this.x = x;
      this.y = y;
      this.z = z;
      this.w = w;
      oimo.common.Quat.numCreations++;
    }

    _createClass(oimo_common_Quat, [{
      key: "identity",
      value: function identity() {
        this.x = 0;
        this.y = 0;
        this.z = 0;
        this.w = 1;
        return this;
      }
    }, {
      key: "init",
      value: function init(x, y, z, w) {
        this.x = x;
        this.y = y;
        this.z = z;
        this.w = w;
        return this;
      }
    }, {
      key: "add",
      value: function add(q) {
        return new oimo.common.Quat(this.x + q.x, this.y + q.y, this.z + q.z, this.w + q.w);
      }
    }, {
      key: "sub",
      value: function sub(q) {
        return new oimo.common.Quat(this.x - q.x, this.y - q.y, this.z - q.z, this.w - q.w);
      }
    }, {
      key: "scale",
      value: function scale(s) {
        return new oimo.common.Quat(this.x * s, this.y * s, this.z * s, this.w * s);
      }
    }, {
      key: "addEq",
      value: function addEq(q) {
        this.x += q.x;
        this.y += q.y;
        this.z += q.z;
        this.w += q.w;
        return this;
      }
    }, {
      key: "subEq",
      value: function subEq(q) {
        this.x -= q.x;
        this.y -= q.y;
        this.z -= q.z;
        this.w -= q.w;
        return this;
      }
    }, {
      key: "scaleEq",
      value: function scaleEq(s) {
        this.x *= s;
        this.y *= s;
        this.z *= s;
        this.w *= s;
        return this;
      }
    }, {
      key: "length",
      value: function length() {
        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
      }
    }, {
      key: "lengthSq",
      value: function lengthSq() {
        return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;
      }
    }, {
      key: "dot",
      value: function dot(q) {
        return this.x * q.x + this.y * q.y + this.z * q.z + this.w * q.w;
      }
    }, {
      key: "normalized",
      value: function normalized() {
        var invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);

        if (invLen > 0) {
          invLen = 1 / invLen;
        }

        return new oimo.common.Quat(this.x * invLen, this.y * invLen, this.z * invLen, this.w * invLen);
      }
    }, {
      key: "normalize",
      value: function normalize() {
        var invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);

        if (invLen > 0) {
          invLen = 1 / invLen;
        }

        this.x *= invLen;
        this.y *= invLen;
        this.z *= invLen;
        this.w *= invLen;
        return this;
      }
    }, {
      key: "setArc",
      value: function setArc(v1, v2) {
        var x1 = v1.x;
        var y1 = v1.y;
        var z1 = v1.z;
        var x2 = v2.x;
        var y2 = v2.y;
        var z2 = v2.z;
        var d = x1 * x2 + y1 * y2 + z1 * z2;
        this.w = Math.sqrt((1 + d) * 0.5);

        if (this.w == 0) {
          x2 = x1 * x1;
          y2 = y1 * y1;
          z2 = z1 * z1;

          if (x2 < y2) {
            if (x2 < z2) {
              d = 1 / Math.sqrt(y2 + z2);
              this.x = 0;
              this.y = z1 * d;
              this.z = -y1 * d;
            } else {
              d = 1 / Math.sqrt(x2 + y2);
              this.z = 0;
              this.x = y1 * d;
              this.y = -x1 * d;
            }
          } else if (y2 < z2) {
            d = 1 / Math.sqrt(z2 + x2);
            this.y = 0;
            this.z = x1 * d;
            this.x = -z1 * d;
          } else {
            d = 1 / Math.sqrt(x2 + y2);
            this.z = 0;
            this.x = y1 * d;
            this.y = -x1 * d;
          }

          return this;
        }

        d = 0.5 / this.w;
        this.x = (y1 * z2 - z1 * y2) * d;
        this.y = (z1 * x2 - x1 * z2) * d;
        this.z = (x1 * y2 - y1 * x2) * d;
        return this;
      }
    }, {
      key: "slerp",
      value: function slerp(q, t) {
        var qx;
        var qy;
        var qz;
        var qw;
        var d = this.x * q.x + this.y * q.y + this.z * q.z + this.w * q.w;

        if (d < 0) {
          d = -d;
          qx = -q.x;
          qy = -q.y;
          qz = -q.z;
          qw = -q.w;
        } else {
          qx = q.x;
          qy = q.y;
          qz = q.z;
          qw = q.w;
        }

        if (d > 0.999999) {
          var _this = new oimo.common.Quat(this.x + (qx - this.x) * t, this.y + (qy - this.y) * t, this.z + (qz - this.z) * t, this.w + (qw - this.w) * t);

          var _invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z + _this.w * _this.w);

          if (_invLen > 0) {
            _invLen = 1 / _invLen;
          }

          _this.x *= _invLen;
          _this.y *= _invLen;
          _this.z *= _invLen;
          _this.w *= _invLen;
          return _this;
        }

        var theta = t * Math.acos(d);
        qx -= this.x * d;
        qy -= this.y * d;
        qz -= this.z * d;
        qw -= this.w * d;
        var invLen = 1 / Math.sqrt(qx * qx + qy * qy + qz * qz + qw * qw);
        qx *= invLen;
        qy *= invLen;
        qz *= invLen;
        qw *= invLen;
        var sin = Math.sin(theta);
        var cos = Math.cos(theta);
        return new oimo.common.Quat(this.x * cos + qx * sin, this.y * cos + qy * sin, this.z * cos + qz * sin, this.w * cos + qw * sin);
      }
    }, {
      key: "copyFrom",
      value: function copyFrom(q) {
        this.x = q.x;
        this.y = q.y;
        this.z = q.z;
        this.w = q.w;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        return new oimo.common.Quat(this.x, this.y, this.z, this.w);
      }
    }, {
      key: "fromMat3",
      value: function fromMat3(m) {
        var e00 = m.e00;
        var e11 = m.e11;
        var e22 = m.e22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          this.w = 0.5 * s;
          s = 0.5 / s;
          this.x = (m.e21 - m.e12) * s;
          this.y = (m.e02 - m.e20) * s;
          this.z = (m.e10 - m.e01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            this.x = 0.5 * s;
            s = 0.5 / s;
            this.y = (m.e01 + m.e10) * s;
            this.z = (m.e02 + m.e20) * s;
            this.w = (m.e21 - m.e12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            this.z = 0.5 * s;
            s = 0.5 / s;
            this.x = (m.e02 + m.e20) * s;
            this.y = (m.e12 + m.e21) * s;
            this.w = (m.e10 - m.e01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          this.y = 0.5 * s;
          s = 0.5 / s;
          this.x = (m.e01 + m.e10) * s;
          this.z = (m.e12 + m.e21) * s;
          this.w = (m.e02 - m.e20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          this.z = 0.5 * s;
          s = 0.5 / s;
          this.x = (m.e02 + m.e20) * s;
          this.y = (m.e12 + m.e21) * s;
          this.w = (m.e10 - m.e01) * s;
        }

        return this;
      }
    }, {
      key: "toMat3",
      value: function toMat3() {
        var _this = new oimo.common.Mat3();

        var x = this.x;
        var y = this.y;
        var z = this.z;
        var w = this.w;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        _this.e00 = 1 - yy - zz;
        _this.e01 = xy - wz;
        _this.e02 = xz + wy;
        _this.e10 = xy + wz;
        _this.e11 = 1 - xx - zz;
        _this.e12 = yz - wx;
        _this.e20 = xz - wy;
        _this.e21 = yz + wx;
        _this.e22 = 1 - xx - yy;
        return _this;
      }
    }, {
      key: "toString",
      value: function toString() {
        return "Quat[" + (this.x > 0 ? (this.x * 10000000 + 0.5 | 0) / 10000000 : (this.x * 10000000 - 0.5 | 0) / 10000000) + " i,\n" + "    " + (this.y > 0 ? (this.y * 10000000 + 0.5 | 0) / 10000000 : (this.y * 10000000 - 0.5 | 0) / 10000000) + " j,\n" + "    " + (this.z > 0 ? (this.z * 10000000 + 0.5 | 0) / 10000000 : (this.z * 10000000 - 0.5 | 0) / 10000000) + " k,\n" + "    " + (this.w > 0 ? (this.w * 10000000 + 0.5 | 0) / 10000000 : (this.w * 10000000 - 0.5 | 0) / 10000000) + "]";
      }
    }]);

    return oimo_common_Quat;
  }();

  if (!oimo.dynamics) oimo.dynamics = {};

  oimo.dynamics.Contact = /*#__PURE__*/function () {
    function oimo_dynamics_Contact() {
      _classCallCheck(this, oimo_dynamics_Contact);

      this._next = null;
      this._prev = null;
      this._link1 = new oimo.dynamics.ContactLink();
      this._link2 = new oimo.dynamics.ContactLink();
      this._s1 = null;
      this._s2 = null;
      this._b1 = null;
      this._b2 = null;
      this._detector = null;
      this._cachedDetectorData = new oimo.collision.narrowphase.detector.CachedDetectorData();
      this._detectorResult = new oimo.collision.narrowphase.DetectorResult();
      this._latest = false;
      this._shouldBeSkipped = false;
      this._manifold = new oimo.dynamics.constraint.contact.Manifold();
      this._updater = new oimo.dynamics.constraint.contact.ManifoldUpdater(this._manifold);
      this._contactConstraint = new oimo.dynamics.constraint.contact.ContactConstraint(this._manifold);
      this._touching = false;
    }

    _createClass(oimo_dynamics_Contact, [{
      key: "_updateManifold",
      value: function _updateManifold() {
        if (this._detector == null) {
          return;
        }

        var ptouching = this._touching;
        var result = this._detectorResult;

        this._detector.detect(result, this._s1._geom, this._s2._geom, this._s1._transform, this._s2._transform, this._cachedDetectorData);

        this._touching = result.numPoints > 0;

        if (this._touching) {
          this._manifold._buildBasis(result.normal);

          if (result.getMaxDepth() > oimo.common.Setting.contactUseAlternativePositionCorrectionAlgorithmDepthThreshold) {
            this._contactConstraint._positionCorrectionAlgorithm = oimo.common.Setting.alternativeContactPositionCorrectionAlgorithm;
          } else {
            this._contactConstraint._positionCorrectionAlgorithm = oimo.common.Setting.defaultContactPositionCorrectionAlgorithm;
          }

          if (result.incremental) {
            this._updater.incrementalUpdate(result, this._b1._transform, this._b2._transform);
          } else {
            this._updater.totalUpdate(result, this._b1._transform, this._b2._transform);
          }
        } else {
          this._manifold._clear();
        }

        if (this._touching && !ptouching) {
          var cc1 = this._s1._contactCallback;
          var cc2 = this._s2._contactCallback;

          if (cc1 == cc2) {
            cc2 = null;
          }

          if (cc1 != null) {
            cc1.beginContact(this);
          }

          if (cc2 != null) {
            cc2.beginContact(this);
          }
        }

        if (!this._touching && ptouching) {
          var _cc = this._s1._contactCallback;
          var _cc2 = this._s2._contactCallback;

          if (_cc == _cc2) {
            _cc2 = null;
          }

          if (_cc != null) {
            _cc.endContact(this);
          }

          if (_cc2 != null) {
            _cc2.endContact(this);
          }
        }

        if (this._touching) {
          var _cc3 = this._s1._contactCallback;
          var _cc4 = this._s2._contactCallback;

          if (_cc3 == _cc4) {
            _cc4 = null;
          }

          if (_cc3 != null) {
            _cc3.preSolve(this);
          }

          if (_cc4 != null) {
            _cc4.preSolve(this);
          }
        }
      }
    }, {
      key: "_postSolve",
      value: function _postSolve() {
        var cc1 = this._s1._contactCallback;
        var cc2 = this._s2._contactCallback;

        if (cc1 == cc2) {
          cc2 = null;
        }

        if (cc1 != null) {
          cc1.postSolve(this);
        }

        if (cc2 != null) {
          cc2.postSolve(this);
        }
      }
    }, {
      key: "getShape1",
      value: function getShape1() {
        return this._s1;
      }
    }, {
      key: "getShape2",
      value: function getShape2() {
        return this._s2;
      }
    }, {
      key: "isTouching",
      value: function isTouching() {
        return this._touching;
      }
    }, {
      key: "getManifold",
      value: function getManifold() {
        return this._manifold;
      }
    }, {
      key: "getContactConstraint",
      value: function getContactConstraint() {
        return this._contactConstraint;
      }
    }, {
      key: "getPrev",
      value: function getPrev() {
        return this._prev;
      }
    }, {
      key: "getNext",
      value: function getNext() {
        return this._next;
      }
    }]);

    return oimo_dynamics_Contact;
  }();

  oimo.dynamics.ContactLink = /*#__PURE__*/function () {
    function oimo_dynamics_ContactLink() {
      _classCallCheck(this, oimo_dynamics_ContactLink);

      this._prev = null;
      this._next = null;
      this._contact = null;
      this._other = null;
    }

    _createClass(oimo_dynamics_ContactLink, [{
      key: "getContact",
      value: function getContact() {
        return this._contact;
      }
    }, {
      key: "getOther",
      value: function getOther() {
        return this._other;
      }
    }, {
      key: "getPrev",
      value: function getPrev() {
        return this._prev;
      }
    }, {
      key: "getNext",
      value: function getNext() {
        return this._next;
      }
    }]);

    return oimo_dynamics_ContactLink;
  }();

  oimo.dynamics.ContactManager = /*#__PURE__*/function () {
    function oimo_dynamics_ContactManager(broadPhase) {
      _classCallCheck(this, oimo_dynamics_ContactManager);

      this._broadPhase = broadPhase;
      this._collisionMatrix = new oimo.collision.narrowphase.CollisionMatrix();
      this._numContacts = 0;
    }

    _createClass(oimo_dynamics_ContactManager, [{
      key: "createContacts",
      value: function createContacts() {
        var pp = this._broadPhase._proxyPairList;

        while (pp != null) {
          var n = pp._next;

          while (true) {
            var s1 = void 0;
            var s2 = void 0;

            if (pp._p1._id < pp._p2._id) {
              s1 = pp._p1.userData;
              s2 = pp._p2.userData;
            } else {
              s1 = pp._p2.userData;
              s2 = pp._p1.userData;
            }

            if (!this.shouldCollide(s1, s2)) {
              break;
            }

            var b1 = s1._rigidBody;
            var b2 = s2._rigidBody;
            var l = void 0;

            if (b1._numContactLinks < b2._numContactLinks) {
              l = b1._contactLinkList;
            } else {
              l = b2._contactLinkList;
            }

            var id1 = s1._id;
            var id2 = s2._id;
            var found = false;

            while (l != null) {
              var c = l._contact;

              if (c._s1._id == id1 && c._s2._id == id2) {
                c._latest = true;
                found = true;
                break;
              }

              l = l._next;
            }

            if (!found) {
              var first = this._contactPool;

              if (first != null) {
                this._contactPool = first._next;
                first._next = null;
              } else {
                first = new oimo.dynamics.Contact();
              }

              var _c61 = first;

              if (this._contactList == null) {
                this._contactList = _c61;
                this._contactListLast = _c61;
              } else {
                this._contactListLast._next = _c61;
                _c61._prev = this._contactListLast;
                this._contactListLast = _c61;
              }

              _c61._latest = true;
              var detector = this._collisionMatrix.detectors[s1._geom._type][s2._geom._type];
              _c61._s1 = s1;
              _c61._s2 = s2;
              _c61._b1 = s1._rigidBody;
              _c61._b2 = s2._rigidBody;
              _c61._touching = false;

              if (_c61._b1._contactLinkList == null) {
                _c61._b1._contactLinkList = _c61._link1;
                _c61._b1._contactLinkListLast = _c61._link1;
              } else {
                _c61._b1._contactLinkListLast._next = _c61._link1;
                _c61._link1._prev = _c61._b1._contactLinkListLast;
                _c61._b1._contactLinkListLast = _c61._link1;
              }

              if (_c61._b2._contactLinkList == null) {
                _c61._b2._contactLinkList = _c61._link2;
                _c61._b2._contactLinkListLast = _c61._link2;
              } else {
                _c61._b2._contactLinkListLast._next = _c61._link2;
                _c61._link2._prev = _c61._b2._contactLinkListLast;
                _c61._b2._contactLinkListLast = _c61._link2;
              }

              _c61._b1._numContactLinks++;
              _c61._b2._numContactLinks++;
              _c61._link1._other = _c61._b2;
              _c61._link2._other = _c61._b1;
              _c61._link1._contact = _c61;
              _c61._link2._contact = _c61;
              _c61._detector = detector;
              var _this = _c61._contactConstraint;
              _this._s1 = s1;
              _this._s2 = s2;
              _this._b1 = _this._s1._rigidBody;
              _this._b2 = _this._s2._rigidBody;
              _this._tf1 = _this._b1._transform;
              _this._tf2 = _this._b2._transform;
              this._numContacts++;
            }

            break;
          }

          pp = n;
        }
      }
    }, {
      key: "destroyOutdatedContacts",
      value: function destroyOutdatedContacts() {
        var incremental = this._broadPhase._incremental;
        var c = this._contactList;

        while (c != null) {
          var n = c._next;

          while (true) {
            if (c._latest) {
              c._latest = false;
              c._shouldBeSkipped = false;
              break;
            }

            if (!incremental) {
              var prev = c._prev;
              var next = c._next;

              if (prev != null) {
                prev._next = next;
              }

              if (next != null) {
                next._prev = prev;
              }

              if (c == this._contactList) {
                this._contactList = this._contactList._next;
              }

              if (c == this._contactListLast) {
                this._contactListLast = this._contactListLast._prev;
              }

              c._next = null;
              c._prev = null;

              if (c._touching) {
                var cc1 = c._s1._contactCallback;
                var cc2 = c._s2._contactCallback;

                if (cc1 == cc2) {
                  cc2 = null;
                }

                if (cc1 != null) {
                  cc1.endContact(c);
                }

                if (cc2 != null) {
                  cc2.endContact(c);
                }
              }

              var prev1 = c._link1._prev;
              var next1 = c._link1._next;

              if (prev1 != null) {
                prev1._next = next1;
              }

              if (next1 != null) {
                next1._prev = prev1;
              }

              if (c._link1 == c._b1._contactLinkList) {
                c._b1._contactLinkList = c._b1._contactLinkList._next;
              }

              if (c._link1 == c._b1._contactLinkListLast) {
                c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
              }

              c._link1._next = null;
              c._link1._prev = null;
              var prev2 = c._link2._prev;
              var next2 = c._link2._next;

              if (prev2 != null) {
                prev2._next = next2;
              }

              if (next2 != null) {
                next2._prev = prev2;
              }

              if (c._link2 == c._b2._contactLinkList) {
                c._b2._contactLinkList = c._b2._contactLinkList._next;
              }

              if (c._link2 == c._b2._contactLinkListLast) {
                c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
              }

              c._link2._next = null;
              c._link2._prev = null;
              c._b1._numContactLinks--;
              c._b2._numContactLinks--;
              c._link1._other = null;
              c._link2._other = null;
              c._link1._contact = null;
              c._link2._contact = null;
              c._s1 = null;
              c._s2 = null;
              c._b1 = null;
              c._b2 = null;
              c._touching = false;

              c._cachedDetectorData._clear();

              c._manifold._clear();

              c._detector = null;
              var _this = c._contactConstraint;
              _this._s1 = null;
              _this._s2 = null;
              _this._b1 = null;
              _this._b2 = null;
              _this._tf1 = null;
              _this._tf2 = null;
              c._next = this._contactPool;
              this._contactPool = c;
              this._numContacts--;
              break;
            }

            var s1 = c._s1;
            var s2 = c._s2;
            var r1 = s1._rigidBody;
            var r2 = s2._rigidBody;

            if (!(!r1._sleeping && r1._type != 1) && !(!r2._sleeping && r2._type != 1)) {
              c._shouldBeSkipped = true;
              break;
            }

            var aabb1 = s1._aabb;
            var aabb2 = s2._aabb;
            var proxy1 = s1._proxy;
            var proxy2 = s2._proxy;

            if (!(proxy1._aabbMinX < proxy2._aabbMaxX && proxy1._aabbMaxX > proxy2._aabbMinX && proxy1._aabbMinY < proxy2._aabbMaxY && proxy1._aabbMaxY > proxy2._aabbMinY && proxy1._aabbMinZ < proxy2._aabbMaxZ && proxy1._aabbMaxZ > proxy2._aabbMinZ) || !this.shouldCollide(s1, s2)) {
              var _prev = c._prev;
              var _next = c._next;

              if (_prev != null) {
                _prev._next = _next;
              }

              if (_next != null) {
                _next._prev = _prev;
              }

              if (c == this._contactList) {
                this._contactList = this._contactList._next;
              }

              if (c == this._contactListLast) {
                this._contactListLast = this._contactListLast._prev;
              }

              c._next = null;
              c._prev = null;

              if (c._touching) {
                var _cc5 = c._s1._contactCallback;
                var _cc6 = c._s2._contactCallback;

                if (_cc5 == _cc6) {
                  _cc6 = null;
                }

                if (_cc5 != null) {
                  _cc5.endContact(c);
                }

                if (_cc6 != null) {
                  _cc6.endContact(c);
                }
              }

              var _prev2 = c._link1._prev;
              var _next2 = c._link1._next;

              if (_prev2 != null) {
                _prev2._next = _next2;
              }

              if (_next2 != null) {
                _next2._prev = _prev2;
              }

              if (c._link1 == c._b1._contactLinkList) {
                c._b1._contactLinkList = c._b1._contactLinkList._next;
              }

              if (c._link1 == c._b1._contactLinkListLast) {
                c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
              }

              c._link1._next = null;
              c._link1._prev = null;
              var _prev3 = c._link2._prev;
              var _next3 = c._link2._next;

              if (_prev3 != null) {
                _prev3._next = _next3;
              }

              if (_next3 != null) {
                _next3._prev = _prev3;
              }

              if (c._link2 == c._b2._contactLinkList) {
                c._b2._contactLinkList = c._b2._contactLinkList._next;
              }

              if (c._link2 == c._b2._contactLinkListLast) {
                c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
              }

              c._link2._next = null;
              c._link2._prev = null;
              c._b1._numContactLinks--;
              c._b2._numContactLinks--;
              c._link1._other = null;
              c._link2._other = null;
              c._link1._contact = null;
              c._link2._contact = null;
              c._s1 = null;
              c._s2 = null;
              c._b1 = null;
              c._b2 = null;
              c._touching = false;

              c._cachedDetectorData._clear();

              c._manifold._clear();

              c._detector = null;
              var _this84 = c._contactConstraint;
              _this84._s1 = null;
              _this84._s2 = null;
              _this84._b1 = null;
              _this84._b2 = null;
              _this84._tf1 = null;
              _this84._tf2 = null;
              c._next = this._contactPool;
              this._contactPool = c;
              this._numContacts--;
              break;
            }

            c._shouldBeSkipped = !(aabb1._minX < aabb2._maxX && aabb1._maxX > aabb2._minX && aabb1._minY < aabb2._maxY && aabb1._maxY > aabb2._minY && aabb1._minZ < aabb2._maxZ && aabb1._maxZ > aabb2._minZ);
            break;
          }

          c = n;
        }
      }
    }, {
      key: "shouldCollide",
      value: function shouldCollide(s1, s2) {
        var r1 = s1._rigidBody;
        var r2 = s2._rigidBody;

        if (r1 == r2) {
          return false;
        }

        if (r1._type != 0 && r2._type != 0) {
          return false;
        }

        if ((s1._collisionGroup & s2._collisionMask) == 0 || (s2._collisionGroup & s1._collisionMask) == 0) {
          return false;
        }

        var jl;
        var other;

        if (r1._numJointLinks < r2._numJointLinks) {
          jl = r1._jointLinkList;
          other = r2;
        } else {
          jl = r2._jointLinkList;
          other = r1;
        }

        while (jl != null) {
          if (jl._other == other && !jl._joint._allowCollision) {
            return false;
          }

          jl = jl._next;
        }

        return true;
      }
    }, {
      key: "_updateContacts",
      value: function _updateContacts() {
        this._broadPhase.collectPairs();

        this.createContacts();
        this.destroyOutdatedContacts();
      }
    }, {
      key: "_postSolve",
      value: function _postSolve() {
        var c = this._contactList;

        while (c != null) {
          var n = c._next;

          if (c._touching) {
            c._postSolve();
          }

          c = n;
        }
      }
    }, {
      key: "getNumContacts",
      value: function getNumContacts() {
        return this._numContacts;
      }
    }, {
      key: "getContactList",
      value: function getContactList() {
        return this._contactList;
      }
    }]);

    return oimo_dynamics_ContactManager;
  }();

  oimo.dynamics.Island = /*#__PURE__*/function () {
    function oimo_dynamics_Island() {
      _classCallCheck(this, oimo_dynamics_Island);

      this.rigidBodies = new Array(oimo.common.Setting.islandInitialRigidBodyArraySize);
      this.solvers = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
      this.solversSi = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
      this.solversNgs = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
      this.numRigidBodies = 0;
      this.numSolvers = 0;
      this.numSolversSi = 0;
      this.numSolversNgs = 0;
    }

    _createClass(oimo_dynamics_Island, [{
      key: "_clear",
      value: function _clear() {
        while (this.numRigidBodies > 0) {
          this.rigidBodies[--this.numRigidBodies] = null;
        }

        while (this.numSolvers > 0) {
          this.solvers[--this.numSolvers] = null;
        }

        while (this.numSolversSi > 0) {
          this.solversSi[--this.numSolversSi] = null;
        }

        while (this.numSolversNgs > 0) {
          this.solversNgs[--this.numSolversNgs] = null;
        }
      }
    }, {
      key: "_addRigidBody",
      value: function _addRigidBody(rigidBody) {
        if (this.numRigidBodies == this.rigidBodies.length) {
          var newArray = new Array(this.numRigidBodies << 1);
          var _g = 0;
          var _g1 = this.numRigidBodies;

          while (_g < _g1) {
            var i = _g++;
            newArray[i] = this.rigidBodies[i];
            this.rigidBodies[i] = null;
          }

          this.rigidBodies = newArray;
        }

        rigidBody._addedToIsland = true;
        this.rigidBodies[this.numRigidBodies++] = rigidBody;
      }
    }, {
      key: "_addConstraintSolver",
      value: function _addConstraintSolver(solver, positionCorrection) {
        if (this.numSolvers == this.solvers.length) {
          var newArray = new Array(this.numSolvers << 1);
          var _g = 0;
          var _g1 = this.numSolvers;

          while (_g < _g1) {
            var i = _g++;
            newArray[i] = this.solvers[i];
            this.solvers[i] = null;
          }

          this.solvers = newArray;
        }

        solver._addedToIsland = true;
        this.solvers[this.numSolvers++] = solver;

        if (positionCorrection == oimo.dynamics.constraint.PositionCorrectionAlgorithm.SPLIT_IMPULSE) {
          if (this.numSolversSi == this.solversSi.length) {
            var _newArray4 = new Array(this.numSolversSi << 1);

            var _g31 = 0;
            var _g32 = this.numSolversSi;

            while (_g31 < _g32) {
              var _i7 = _g31++;

              _newArray4[_i7] = this.solversSi[_i7];
              this.solversSi[_i7] = null;
            }

            this.solversSi = _newArray4;
          }

          this.solversSi[this.numSolversSi++] = solver;
        }

        if (positionCorrection == oimo.dynamics.constraint.PositionCorrectionAlgorithm.NGS) {
          if (this.numSolversNgs == this.solversNgs.length) {
            var _newArray5 = new Array(this.numSolversNgs << 1);

            var _g33 = 0;
            var _g34 = this.numSolversNgs;

            while (_g33 < _g34) {
              var _i8 = _g33++;

              _newArray5[_i8] = this.solversNgs[_i8];
              this.solversNgs[_i8] = null;
            }

            this.solversNgs = _newArray5;
          }

          this.solversNgs[this.numSolversNgs++] = solver;
        }
      }
    }, {
      key: "_stepSingleRigidBody",
      value: function _stepSingleRigidBody(timeStep, rb) {
        var dt = timeStep.dt;
        var dst = rb._ptransform;
        var src = rb._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        rb._linearContactImpulseX = 0;
        rb._linearContactImpulseY = 0;
        rb._linearContactImpulseZ = 0;
        rb._angularContactImpulseX = 0;
        rb._angularContactImpulseY = 0;
        rb._angularContactImpulseZ = 0;

        if (rb._autoSleep && rb._velX * rb._velX + rb._velY * rb._velY + rb._velZ * rb._velZ < oimo.common.Setting.sleepingVelocityThreshold * oimo.common.Setting.sleepingVelocityThreshold && rb._angVelX * rb._angVelX + rb._angVelY * rb._angVelY + rb._angVelZ * rb._angVelZ < oimo.common.Setting.sleepingAngularVelocityThreshold * oimo.common.Setting.sleepingAngularVelocityThreshold) {
          rb._sleepTime += dt;

          if (rb._sleepTime > oimo.common.Setting.sleepingTimeThreshold) {
            rb._sleeping = true;
            rb._sleepTime = 0;
          }
        } else {
          rb._sleepTime = 0;
        }

        if (!rb._sleeping) {
          if (rb._type == 0) {
            var x = dt * rb._linearDamping;
            var x2 = x * x;
            var linScale = 1 / (1 + x + x2 * (0.5 + x * 0.16666666666666666 + x2 * 0.041666666666666664));
            var x1 = dt * rb._angularDamping;
            var x21 = x1 * x1;
            var angScale = 1 / (1 + x1 + x21 * (0.5 + x1 * 0.16666666666666666 + x21 * 0.041666666666666664));
            var linAccX;
            var linAccY;
            var linAccZ;
            var angAccX;
            var angAccY;
            var angAccZ;
            linAccX = this.gravityX * rb._gravityScale;
            linAccY = this.gravityY * rb._gravityScale;
            linAccZ = this.gravityZ * rb._gravityScale;
            linAccX += rb._forceX * rb._invMass;
            linAccY += rb._forceY * rb._invMass;
            linAccZ += rb._forceZ * rb._invMass;

            var __tmp__X;

            var __tmp__Y;

            var __tmp__Z;

            __tmp__X = rb._invInertia00 * rb._torqueX + rb._invInertia01 * rb._torqueY + rb._invInertia02 * rb._torqueZ;
            __tmp__Y = rb._invInertia10 * rb._torqueX + rb._invInertia11 * rb._torqueY + rb._invInertia12 * rb._torqueZ;
            __tmp__Z = rb._invInertia20 * rb._torqueX + rb._invInertia21 * rb._torqueY + rb._invInertia22 * rb._torqueZ;
            angAccX = __tmp__X;
            angAccY = __tmp__Y;
            angAccZ = __tmp__Z;
            rb._velX += linAccX * dt;
            rb._velY += linAccY * dt;
            rb._velZ += linAccZ * dt;
            rb._velX *= linScale;
            rb._velY *= linScale;
            rb._velZ *= linScale;
            rb._angVelX += angAccX * dt;
            rb._angVelY += angAccY * dt;
            rb._angVelZ += angAccZ * dt;
            rb._angVelX *= angScale;
            rb._angVelY *= angScale;
            rb._angVelZ *= angScale;
          }

          rb._integrate(dt);

          var s = rb._shapeList;

          while (s != null) {
            var n = s._next;
            var tf1 = rb._ptransform;
            var tf2 = rb._transform;
            var _dst = s._ptransform;
            var src1 = s._localTransform;

            var __tmp__00 = void 0;

            var __tmp__01 = void 0;

            var __tmp__02 = void 0;

            var __tmp__10 = void 0;

            var __tmp__11 = void 0;

            var __tmp__12 = void 0;

            var __tmp__20 = void 0;

            var __tmp__21 = void 0;

            var __tmp__22 = void 0;

            __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
            __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
            __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
            __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
            __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
            __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
            __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
            __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
            __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
            _dst._rotation00 = __tmp__00;
            _dst._rotation01 = __tmp__01;
            _dst._rotation02 = __tmp__02;
            _dst._rotation10 = __tmp__10;
            _dst._rotation11 = __tmp__11;
            _dst._rotation12 = __tmp__12;
            _dst._rotation20 = __tmp__20;
            _dst._rotation21 = __tmp__21;
            _dst._rotation22 = __tmp__22;

            var _tmp__X6 = void 0;

            var _tmp__Y6 = void 0;

            var _tmp__Z6 = void 0;

            _tmp__X6 = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
            _tmp__Y6 = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
            _tmp__Z6 = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
            _dst._positionX = _tmp__X6;
            _dst._positionY = _tmp__Y6;
            _dst._positionZ = _tmp__Z6;
            _dst._positionX += tf1._positionX;
            _dst._positionY += tf1._positionY;
            _dst._positionZ += tf1._positionZ;
            var dst1 = s._transform;
            var src11 = s._localTransform;

            var __tmp__001 = void 0;

            var __tmp__011 = void 0;

            var __tmp__021 = void 0;

            var __tmp__101 = void 0;

            var __tmp__111 = void 0;

            var __tmp__121 = void 0;

            var __tmp__201 = void 0;

            var __tmp__211 = void 0;

            var __tmp__221 = void 0;

            __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
            __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
            __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
            __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
            __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
            __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
            __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
            __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
            __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
            dst1._rotation00 = __tmp__001;
            dst1._rotation01 = __tmp__011;
            dst1._rotation02 = __tmp__021;
            dst1._rotation10 = __tmp__101;
            dst1._rotation11 = __tmp__111;
            dst1._rotation12 = __tmp__121;
            dst1._rotation20 = __tmp__201;
            dst1._rotation21 = __tmp__211;
            dst1._rotation22 = __tmp__221;

            var __tmp__X1 = void 0;

            var __tmp__Y1 = void 0;

            var __tmp__Z1 = void 0;

            __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
            __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
            __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
            dst1._positionX = __tmp__X1;
            dst1._positionY = __tmp__Y1;
            dst1._positionZ = __tmp__Z1;
            dst1._positionX += tf2._positionX;
            dst1._positionY += tf2._positionY;
            dst1._positionZ += tf2._positionZ;
            var minX = void 0;
            var minY = void 0;
            var minZ = void 0;
            var maxX = void 0;
            var maxY = void 0;
            var maxZ = void 0;

            s._geom._computeAabb(s._aabb, s._ptransform);

            minX = s._aabb._minX;
            minY = s._aabb._minY;
            minZ = s._aabb._minZ;
            maxX = s._aabb._maxX;
            maxY = s._aabb._maxY;
            maxZ = s._aabb._maxZ;

            s._geom._computeAabb(s._aabb, s._transform);

            s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
            s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
            s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
            s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
            s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
            s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

            if (s._proxy != null) {
              var dX = void 0;
              var dY = void 0;
              var dZ = void 0;
              dX = s._transform._positionX - s._ptransform._positionX;
              dY = s._transform._positionY - s._ptransform._positionY;
              dZ = s._transform._positionZ - s._ptransform._positionZ;
              var v = s.displacement;
              v.x = dX;
              v.y = dY;
              v.z = dZ;

              s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
            }

            s = n;
          }
        }
      }
    }, {
      key: "_step",
      value: function _step(timeStep, numVelocityIterations, numPositionIterations) {
        var dt = timeStep.dt;
        var sleepIsland = true;
        var _g = 0;
        var _g1 = this.numRigidBodies;

        while (_g < _g1) {
          var rb = this.rigidBodies[_g++];
          var dst = rb._ptransform;
          var src = rb._transform;
          dst._positionX = src._positionX;
          dst._positionY = src._positionY;
          dst._positionZ = src._positionZ;
          dst._rotation00 = src._rotation00;
          dst._rotation01 = src._rotation01;
          dst._rotation02 = src._rotation02;
          dst._rotation10 = src._rotation10;
          dst._rotation11 = src._rotation11;
          dst._rotation12 = src._rotation12;
          dst._rotation20 = src._rotation20;
          dst._rotation21 = src._rotation21;
          dst._rotation22 = src._rotation22;
          rb._linearContactImpulseX = 0;
          rb._linearContactImpulseY = 0;
          rb._linearContactImpulseZ = 0;
          rb._angularContactImpulseX = 0;
          rb._angularContactImpulseY = 0;
          rb._angularContactImpulseZ = 0;
          rb._sleeping = false;

          if (rb._autoSleep && rb._velX * rb._velX + rb._velY * rb._velY + rb._velZ * rb._velZ < oimo.common.Setting.sleepingVelocityThreshold * oimo.common.Setting.sleepingVelocityThreshold && rb._angVelX * rb._angVelX + rb._angVelY * rb._angVelY + rb._angVelZ * rb._angVelZ < oimo.common.Setting.sleepingAngularVelocityThreshold * oimo.common.Setting.sleepingAngularVelocityThreshold) {
            rb._sleepTime += dt;
          } else {
            rb._sleepTime = 0;
          }

          if (rb._sleepTime < oimo.common.Setting.sleepingTimeThreshold) {
            sleepIsland = false;
          }

          if (rb._type == 0) {
            var x = dt * rb._linearDamping;
            var x2 = x * x;
            var linScale = 1 / (1 + x + x2 * (0.5 + x * 0.16666666666666666 + x2 * 0.041666666666666664));
            var x1 = dt * rb._angularDamping;
            var x21 = x1 * x1;
            var angScale = 1 / (1 + x1 + x21 * (0.5 + x1 * 0.16666666666666666 + x21 * 0.041666666666666664));
            var linAccX = void 0;
            var linAccY = void 0;
            var linAccZ = void 0;
            var angAccX = void 0;
            var angAccY = void 0;
            var angAccZ = void 0;
            linAccX = this.gravityX * rb._gravityScale;
            linAccY = this.gravityY * rb._gravityScale;
            linAccZ = this.gravityZ * rb._gravityScale;
            linAccX += rb._forceX * rb._invMass;
            linAccY += rb._forceY * rb._invMass;
            linAccZ += rb._forceZ * rb._invMass;

            var __tmp__X = void 0;

            var __tmp__Y = void 0;

            var __tmp__Z = void 0;

            __tmp__X = rb._invInertia00 * rb._torqueX + rb._invInertia01 * rb._torqueY + rb._invInertia02 * rb._torqueZ;
            __tmp__Y = rb._invInertia10 * rb._torqueX + rb._invInertia11 * rb._torqueY + rb._invInertia12 * rb._torqueZ;
            __tmp__Z = rb._invInertia20 * rb._torqueX + rb._invInertia21 * rb._torqueY + rb._invInertia22 * rb._torqueZ;
            angAccX = __tmp__X;
            angAccY = __tmp__Y;
            angAccZ = __tmp__Z;
            rb._velX += linAccX * dt;
            rb._velY += linAccY * dt;
            rb._velZ += linAccZ * dt;
            rb._velX *= linScale;
            rb._velY *= linScale;
            rb._velZ *= linScale;
            rb._angVelX += angAccX * dt;
            rb._angVelY += angAccY * dt;
            rb._angVelZ += angAccZ * dt;
            rb._angVelX *= angScale;
            rb._angVelY *= angScale;
            rb._angVelZ *= angScale;
          }
        }

        if (sleepIsland) {
          var _g35 = 0;
          var _g36 = this.numRigidBodies;

          while (_g35 < _g36) {
            var _rb = this.rigidBodies[_g35++];
            _rb._sleeping = true;
            _rb._sleepTime = 0;
          }

          return;
        }

        var _g2 = 0;
        var _g3 = this.numSolvers;

        while (_g2 < _g3) {
          this.solvers[_g2++].preSolveVelocity(timeStep);
        }

        var _g4 = 0;
        var _g5 = this.numSolvers;

        while (_g4 < _g5) {
          this.solvers[_g4++].warmStart(timeStep);
        }

        var _g6 = 0;

        while (_g6 < numVelocityIterations) {
          ++_g6;
          var _g37 = 0;
          var _g38 = this.numSolvers;

          while (_g37 < _g38) {
            this.solvers[_g37++].solveVelocity();
          }
        }

        var _g7 = 0;
        var _g8 = this.numSolvers;

        while (_g7 < _g8) {
          this.solvers[_g7++].postSolveVelocity(timeStep);
        }

        var _g9 = 0;
        var _g10 = this.numRigidBodies;

        while (_g9 < _g10) {
          this.rigidBodies[_g9++]._integrate(dt);
        }

        var _g11 = 0;
        var _g12 = this.numSolversSi;

        while (_g11 < _g12) {
          this.solversSi[_g11++].preSolvePosition(timeStep);
        }

        var _g13 = 0;

        while (_g13 < numPositionIterations) {
          ++_g13;
          var _g39 = 0;
          var _g40 = this.numSolversSi;

          while (_g39 < _g40) {
            this.solversSi[_g39++].solvePositionSplitImpulse();
          }
        }

        var _g14 = 0;
        var _g15 = this.numRigidBodies;

        while (_g14 < _g15) {
          this.rigidBodies[_g14++]._integratePseudoVelocity();
        }

        var _g16 = 0;
        var _g17 = this.numSolversNgs;

        while (_g16 < _g17) {
          this.solversNgs[_g16++].preSolvePosition(timeStep);
        }

        var _g18 = 0;

        while (_g18 < numPositionIterations) {
          ++_g18;
          var _g41 = 0;
          var _g42 = this.numSolversNgs;

          while (_g41 < _g42) {
            this.solversNgs[_g41++].solvePositionNgs(timeStep);
          }
        }

        var _g19 = 0;
        var _g20 = this.numSolvers;

        while (_g19 < _g20) {
          this.solvers[_g19++].postSolve();
        }

        var _g21 = 0;
        var _g22 = this.numRigidBodies;

        while (_g21 < _g22) {
          var _rb2 = this.rigidBodies[_g21++];
          var s = _rb2._shapeList;

          while (s != null) {
            var n = s._next;
            var tf1 = _rb2._ptransform;
            var tf2 = _rb2._transform;
            var _dst2 = s._ptransform;
            var src1 = s._localTransform;

            var __tmp__00 = void 0;

            var __tmp__01 = void 0;

            var __tmp__02 = void 0;

            var __tmp__10 = void 0;

            var __tmp__11 = void 0;

            var __tmp__12 = void 0;

            var __tmp__20 = void 0;

            var __tmp__21 = void 0;

            var __tmp__22 = void 0;

            __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
            __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
            __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
            __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
            __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
            __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
            __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
            __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
            __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
            _dst2._rotation00 = __tmp__00;
            _dst2._rotation01 = __tmp__01;
            _dst2._rotation02 = __tmp__02;
            _dst2._rotation10 = __tmp__10;
            _dst2._rotation11 = __tmp__11;
            _dst2._rotation12 = __tmp__12;
            _dst2._rotation20 = __tmp__20;
            _dst2._rotation21 = __tmp__21;
            _dst2._rotation22 = __tmp__22;

            var _tmp__X7 = void 0;

            var _tmp__Y7 = void 0;

            var _tmp__Z7 = void 0;

            _tmp__X7 = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
            _tmp__Y7 = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
            _tmp__Z7 = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
            _dst2._positionX = _tmp__X7;
            _dst2._positionY = _tmp__Y7;
            _dst2._positionZ = _tmp__Z7;
            _dst2._positionX += tf1._positionX;
            _dst2._positionY += tf1._positionY;
            _dst2._positionZ += tf1._positionZ;
            var dst1 = s._transform;
            var src11 = s._localTransform;

            var __tmp__001 = void 0;

            var __tmp__011 = void 0;

            var __tmp__021 = void 0;

            var __tmp__101 = void 0;

            var __tmp__111 = void 0;

            var __tmp__121 = void 0;

            var __tmp__201 = void 0;

            var __tmp__211 = void 0;

            var __tmp__221 = void 0;

            __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
            __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
            __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
            __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
            __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
            __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
            __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
            __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
            __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
            dst1._rotation00 = __tmp__001;
            dst1._rotation01 = __tmp__011;
            dst1._rotation02 = __tmp__021;
            dst1._rotation10 = __tmp__101;
            dst1._rotation11 = __tmp__111;
            dst1._rotation12 = __tmp__121;
            dst1._rotation20 = __tmp__201;
            dst1._rotation21 = __tmp__211;
            dst1._rotation22 = __tmp__221;

            var __tmp__X1 = void 0;

            var __tmp__Y1 = void 0;

            var __tmp__Z1 = void 0;

            __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
            __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
            __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
            dst1._positionX = __tmp__X1;
            dst1._positionY = __tmp__Y1;
            dst1._positionZ = __tmp__Z1;
            dst1._positionX += tf2._positionX;
            dst1._positionY += tf2._positionY;
            dst1._positionZ += tf2._positionZ;
            var minX = void 0;
            var minY = void 0;
            var minZ = void 0;
            var maxX = void 0;
            var maxY = void 0;
            var maxZ = void 0;

            s._geom._computeAabb(s._aabb, s._ptransform);

            minX = s._aabb._minX;
            minY = s._aabb._minY;
            minZ = s._aabb._minZ;
            maxX = s._aabb._maxX;
            maxY = s._aabb._maxY;
            maxZ = s._aabb._maxZ;

            s._geom._computeAabb(s._aabb, s._transform);

            s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
            s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
            s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
            s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
            s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
            s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

            if (s._proxy != null) {
              var dX = void 0;
              var dY = void 0;
              var dZ = void 0;
              dX = s._transform._positionX - s._ptransform._positionX;
              dY = s._transform._positionY - s._ptransform._positionY;
              dZ = s._transform._positionZ - s._ptransform._positionZ;
              var v = s.displacement;
              v.x = dX;
              v.y = dY;
              v.z = dZ;

              s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
            }

            s = n;
          }
        }
      }
    }]);

    return oimo_dynamics_Island;
  }();

  oimo.dynamics.TimeStep = /*#__PURE__*/_createClass(function oimo_dynamics_TimeStep() {
    _classCallCheck(this, oimo_dynamics_TimeStep);

    this.dt = 0;
    this.invDt = 0;
    this.dtRatio = 1;
  });

  oimo.dynamics.World = /*#__PURE__*/function () {
    function oimo_dynamics_World(broadPhaseType, gravity) {
      _classCallCheck(this, oimo_dynamics_World);

      if (broadPhaseType == null) {
        broadPhaseType = 2;
      }

      switch (broadPhaseType) {
        case 1:
          this._broadPhase = new oimo.collision.broadphase.bruteforce.BruteForceBroadPhase();
          break;

        case 2:
          this._broadPhase = new oimo.collision.broadphase.bvh.BvhBroadPhase();
          break;
      }

      this._contactManager = new oimo.dynamics.ContactManager(this._broadPhase);

      if (gravity == null) {
        gravity = new oimo.common.Vec3(0, -9.80665, 0);
      }

      this._gravity = new oimo.common.Vec3(gravity.x, gravity.y, gravity.z);
      this._rigidBodyList = null;
      this._rigidBodyListLast = null;
      this._jointList = null;
      this._jointListLast = null;
      this._numRigidBodies = 0;
      this._numShapes = 0;
      this._numJoints = 0;
      this._numIslands = 0;
      this._numVelocityIterations = 10;
      this._numPositionIterations = 5;
      this._rayCastWrapper = new oimo.dynamics._World.RayCastWrapper();
      this._convexCastWrapper = new oimo.dynamics._World.ConvexCastWrapper();
      this._aabbTestWrapper = new oimo.dynamics._World.AabbTestWrapper();
      this._island = new oimo.dynamics.Island();
      this._solversInIslands = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
      this._rigidBodyStack = new Array(oimo.common.Setting.islandInitialRigidBodyArraySize);
      this._timeStep = new oimo.dynamics.TimeStep();
      this._pool = new oimo.common.Pool();
      this._shapeIdCount = 0;
    }

    _createClass(oimo_dynamics_World, [{
      key: "_updateContacts",
      value: function _updateContacts() {
        var st = Date.now() / 1000;

        this._contactManager._updateContacts();

        oimo.dynamics.common.Performance.broadPhaseCollisionTime = (Date.now() / 1000 - st) * 1000;
        var st1 = Date.now() / 1000;
        var c = this._contactManager._contactList;

        while (c != null) {
          var n = c._next;

          if (!c._shouldBeSkipped) {
            c._updateManifold();
          }

          c = n;
        }

        oimo.dynamics.common.Performance.narrowPhaseCollisionTime = (Date.now() / 1000 - st1) * 1000;
      }
    }, {
      key: "_solveIslands",
      value: function _solveIslands() {
        var st = Date.now() / 1000;

        if (oimo.common.Setting.disableSleeping) {
          var _b54 = this._rigidBodyList;

          while (_b54 != null) {
            _b54._sleeping = false;
            _b54._sleepTime = 0;
            _b54 = _b54._next;
          }
        }

        if (this._rigidBodyStack.length < this._numRigidBodies) {
          var newStackSize = this._rigidBodyStack.length << 1;

          while (newStackSize < this._numRigidBodies) {
            newStackSize <<= 1;
          }

          this._rigidBodyStack = new Array(newStackSize);
        }

        this._numIslands = 0;
        var _this = this._island;
        var gravity = this._gravity;
        _this.gravityX = gravity.x;
        _this.gravityY = gravity.y;
        _this.gravityZ = gravity.z;
        var b = this._rigidBodyList;
        this._numSolversInIslands = 0;

        while (b != null) {
          var n = b._next;

          while (!(b._addedToIsland || b._sleeping || b._type == 1)) {
            if (b._numContactLinks == 0 && b._numJointLinks == 0) {
              this._island._stepSingleRigidBody(this._timeStep, b);

              this._numIslands++;
              break;
            }

            this.buildIsland(b);

            this._island._step(this._timeStep, this._numVelocityIterations, this._numPositionIterations);

            this._island._clear();

            this._numIslands++;
            break;
          }

          b = n;
        }

        this._contactManager._postSolve();

        b = this._rigidBodyList;

        while (b != null) {
          b._addedToIsland = false;
          b = b._next;
        }

        b = this._rigidBodyList;

        while (b != null) {
          b._forceX = 0;
          b._forceY = 0;
          b._forceZ = 0;
          b._torqueX = 0;
          b._torqueY = 0;
          b._torqueZ = 0;
          b = b._next;
        }

        while (this._numSolversInIslands > 0) {
          this._solversInIslands[--this._numSolversInIslands]._addedToIsland = false;
          this._solversInIslands[this._numSolversInIslands] = null;
        }

        oimo.dynamics.common.Performance.dynamicsTime = (Date.now() / 1000 - st) * 1000;
      }
    }, {
      key: "buildIsland",
      value: function buildIsland(base) {
        var stackCount = 1;

        this._island._addRigidBody(base);

        this._rigidBodyStack[0] = base;

        while (stackCount > 0) {
          var rb = this._rigidBodyStack[--stackCount];
          this._rigidBodyStack[stackCount] = null;

          if (rb._type == 1) {
            continue;
          }

          var cl = rb._contactLinkList;

          while (cl != null) {
            var n = cl._next;
            var cc = cl._contact._contactConstraint;
            var ccs = cl._contact._contactConstraint._solver;

            if (cc.isTouching() && !ccs._addedToIsland) {
              if (this._solversInIslands.length == this._numSolversInIslands) {
                var newArray = new Array(this._numSolversInIslands << 1);
                var _g = 0;
                var _g1 = this._numSolversInIslands;

                while (_g < _g1) {
                  var i = _g++;
                  newArray[i] = this._solversInIslands[i];
                  this._solversInIslands[i] = null;
                }

                this._solversInIslands = newArray;
              }

              this._solversInIslands[this._numSolversInIslands++] = ccs;

              this._island._addConstraintSolver(ccs, cc._positionCorrectionAlgorithm);

              var other = cl._other;

              if (!other._addedToIsland) {
                this._island._addRigidBody(other);

                this._rigidBodyStack[stackCount++] = other;
              }
            }

            cl = n;
          }

          var jl = rb._jointLinkList;

          while (jl != null) {
            var _n2 = jl._next;
            var j = jl._joint;
            var js1 = j._solver;

            if (!js1._addedToIsland) {
              if (this._solversInIslands.length == this._numSolversInIslands) {
                var _newArray6 = new Array(this._numSolversInIslands << 1);

                var _g43 = 0;
                var _g44 = this._numSolversInIslands;

                while (_g43 < _g44) {
                  var _i9 = _g43++;

                  _newArray6[_i9] = this._solversInIslands[_i9];
                  this._solversInIslands[_i9] = null;
                }

                this._solversInIslands = _newArray6;
              }

              this._solversInIslands[this._numSolversInIslands++] = js1;

              this._island._addConstraintSolver(js1, j._positionCorrectionAlgorithm);

              var _other = jl._other;

              if (!_other._addedToIsland) {
                this._island._addRigidBody(_other);

                this._rigidBodyStack[stackCount++] = _other;
              }
            }

            jl = _n2;
          }
        }
      }
    }, {
      key: "_drawBvh",
      value: function _drawBvh(d, tree) {
        if (d.drawBvh) {
          this._drawBvhNode(d, tree._root, 0, d.style.bvhNodeColor);
        }
      }
    }, {
      key: "_drawBvhNode",
      value: function _drawBvhNode(d, node, level, color) {
        if (node == null) {
          return;
        }

        if (level >= d.drawBvhMinLevel && level <= d.drawBvhMaxLevel) {
          var _this = this._pool;
          var min = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
          var _this1 = this._pool;
          var max = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
          var v = min;
          v.x = node._aabbMinX;
          v.y = node._aabbMinY;
          v.z = node._aabbMinZ;
          var v1 = max;
          v1.x = node._aabbMaxX;
          v1.y = node._aabbMaxY;
          v1.z = node._aabbMaxZ;
          d.aabb(min, max, color);
          var _this2 = this._pool;

          if (min != null) {
            min.zero();

            if (_this2.sizeVec3 == _this2.stackVec3.length) {
              var newArray = new Array(_this2.sizeVec3 << 1);
              var _g = 0;
              var _g1 = _this2.sizeVec3;

              while (_g < _g1) {
                var i = _g++;
                newArray[i] = _this2.stackVec3[i];
                _this2.stackVec3[i] = null;
              }

              _this2.stackVec3 = newArray;
            }

            _this2.stackVec3[_this2.sizeVec3++] = min;
          }

          var _this3 = this._pool;

          if (max != null) {
            max.zero();

            if (_this3.sizeVec3 == _this3.stackVec3.length) {
              var _newArray7 = new Array(_this3.sizeVec3 << 1);

              var _g45 = 0;
              var _g46 = _this3.sizeVec3;

              while (_g45 < _g46) {
                var _i10 = _g45++;

                _newArray7[_i10] = _this3.stackVec3[_i10];
                _this3.stackVec3[_i10] = null;
              }

              _this3.stackVec3 = _newArray7;
            }

            _this3.stackVec3[_this3.sizeVec3++] = max;
          }
        }

        this._drawBvhNode(d, node._children[0], level + 1, color);

        this._drawBvhNode(d, node._children[1], level + 1, color);
      }
    }, {
      key: "_drawRigidBodies",
      value: function _drawRigidBodies(d) {
        var style = d.style;
        var r = this._rigidBodyList;

        while (r != null) {
          var n = r._next;

          if (d.drawBases) {
            var _style = d.style;
            d.basis(r._transform, _style.basisLength, _style.basisColorX, _style.basisColorY, _style.basisColorZ);
          }

          var shapeColor = null;
          var isDynamic = r._type == 0;

          if (!isDynamic) {
            shapeColor = r._type == 2 ? style.kinematicShapeColor : style.staticShapeColor;
          }

          var s = r._shapeList;

          while (s != null) {
            var _n3 = s._next;

            if (isDynamic) {
              if ((s._id & 1) == 0) {
                shapeColor = r._sleeping ? style.sleepingShapeColor1 : r._sleepTime > oimo.common.Setting.sleepingTimeThreshold ? style.sleepyShapeColor1 : style.shapeColor1;
              } else {
                shapeColor = r._sleeping ? style.sleepingShapeColor2 : r._sleepTime > oimo.common.Setting.sleepingTimeThreshold ? style.sleepyShapeColor2 : style.shapeColor2;
              }
            }

            if (d.drawShapes) {
              var geom = s._geom;
              var tf = s._transform;

              switch (geom._type) {
                case 0:
                  d.sphere(tf, geom._radius, shapeColor);
                  break;

                case 1:
                  var g = geom;
                  var _this = this._pool;
                  var hx = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
                  var v = hx;
                  v.x = g._halfExtentsX;
                  v.y = g._halfExtentsY;
                  v.z = g._halfExtentsZ;
                  d.box(tf, hx, shapeColor);
                  var _this1 = this._pool;

                  if (hx != null) {
                    hx.zero();

                    if (_this1.sizeVec3 == _this1.stackVec3.length) {
                      var newArray = new Array(_this1.sizeVec3 << 1);
                      var _g47 = 0;
                      var _g1 = _this1.sizeVec3;

                      while (_g47 < _g1) {
                        var i = _g47++;
                        newArray[i] = _this1.stackVec3[i];
                        _this1.stackVec3[i] = null;
                      }

                      _this1.stackVec3 = newArray;
                    }

                    _this1.stackVec3[_this1.sizeVec3++] = hx;
                  }

                  break;

                case 2:
                  var g1 = geom;
                  d.cylinder(tf, g1._radius, g1._halfHeight, shapeColor);
                  break;

                case 3:
                  var g2 = geom;
                  d.cone(tf, g2._radius, g2._halfHeight, shapeColor);
                  break;

                case 4:
                  var g3 = geom;
                  d.capsule(tf, g3._radius, g3._halfHeight, shapeColor);
                  break;

                case 5:
                  var g4 = geom;
                  var _n4 = g4._numVertices;
                  var _this2 = this._pool;
                  var v1 = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
                  var _this3 = this._pool;
                  var v2 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
                  var _this4 = this._pool;
                  var v3 = _this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3];
                  var _this5 = this._pool;
                  var v12 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
                  var _this6 = this._pool;
                  var v13 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
                  var _this7 = this._pool;
                  var normal = _this7.sizeVec3 == 0 ? new oimo.common.Vec3() : _this7.stackVec3[--_this7.sizeVec3];
                  var _this8 = this._pool;
                  var m = _this8.sizeMat3 == 0 ? new oimo.common.Mat3() : _this8.stackMat3[--_this8.sizeMat3];
                  var _this9 = this._pool;
                  var o = _this9.sizeVec3 == 0 ? new oimo.common.Vec3() : _this9.stackVec3[--_this9.sizeVec3];
                  var m1 = m;
                  m1.e00 = tf._rotation00;
                  m1.e01 = tf._rotation01;
                  m1.e02 = tf._rotation02;
                  m1.e10 = tf._rotation10;
                  m1.e11 = tf._rotation11;
                  m1.e12 = tf._rotation12;
                  m1.e20 = tf._rotation20;
                  m1.e21 = tf._rotation21;
                  m1.e22 = tf._rotation22;
                  var v4 = o;
                  v4.x = tf._positionX;
                  v4.y = tf._positionY;
                  v4.z = tf._positionZ;
                  var _g = 0;

                  while (_g < _n4) {
                    var _i11 = _g++;

                    var _this85 = g4._tmpVertices[_i11];
                    var _v35 = g4._vertices[_i11];
                    _this85.x = _v35.x;
                    _this85.y = _v35.y;
                    _this85.z = _v35.z;
                    var y = _this85.x * m.e10 + _this85.y * m.e11 + _this85.z * m.e12;
                    var z = _this85.x * m.e20 + _this85.y * m.e21 + _this85.z * m.e22;
                    _this85.x = _this85.x * m.e00 + _this85.y * m.e01 + _this85.z * m.e02;
                    _this85.y = y;
                    _this85.z = z;
                    _this85.x += o.x;
                    _this85.y += o.y;
                    _this85.z += o.z;
                  }

                  if (_n4 > 30) {
                    var _g48 = 0;

                    while (_g48 < _n4) {
                      var _i12 = _g48++;

                      var _v36 = g4._tmpVertices[_i12];
                      v1.x = _v36.x;
                      v1.y = _v36.y;
                      v1.z = _v36.z;
                      var _v37 = g4._tmpVertices[(_i12 + 1) % _n4];
                      v2.x = _v37.x;
                      v2.y = _v37.y;
                      v2.z = _v37.z;
                      d.line(v1, v2, shapeColor);
                    }
                  } else if (this._debugDraw.wireframe || _n4 > 10) {
                    var _g49 = 0;

                    while (_g49 < _n4) {
                      var _i13 = _g49++;

                      var _v38 = g4._tmpVertices[_i13];
                      v1.x = _v38.x;
                      v1.y = _v38.y;
                      v1.z = _v38.z;
                      var _g50 = 0;

                      while (_g50 < _i13) {
                        var _v39 = g4._tmpVertices[_g50++];
                        v2.x = _v39.x;
                        v2.y = _v39.y;
                        v2.z = _v39.z;
                        d.line(v1, v2, shapeColor);
                      }
                    }
                  } else {
                    var _g51 = 0;

                    while (_g51 < _n4) {
                      var _i14 = _g51++;

                      var _v40 = g4._tmpVertices[_i14];
                      v1.x = _v40.x;
                      v1.y = _v40.y;
                      v1.z = _v40.z;
                      var _g52 = 0;

                      while (_g52 < _i14) {
                        var j = _g52++;
                        var _v41 = g4._tmpVertices[j];
                        v2.x = _v41.x;
                        v2.y = _v41.y;
                        v2.z = _v41.z;
                        var _g53 = 0;

                        while (_g53 < j) {
                          var _v42 = g4._tmpVertices[_g53++];
                          v3.x = _v42.x;
                          v3.y = _v42.y;
                          v3.z = _v42.z;
                          v12.x = v2.x;
                          v12.y = v2.y;
                          v12.z = v2.z;
                          var _this86 = v12;
                          _this86.x -= v1.x;
                          _this86.y -= v1.y;
                          _this86.z -= v1.z;
                          v13.x = v3.x;
                          v13.y = v3.y;
                          v13.z = v3.z;
                          var _this87 = v13;
                          _this87.x -= v1.x;
                          _this87.y -= v1.y;
                          _this87.z -= v1.z;
                          normal.x = v12.x;
                          normal.y = v12.y;
                          normal.z = v12.z;
                          var _this88 = normal;

                          var _y3 = _this88.z * v13.x - _this88.x * v13.z;

                          var _z3 = _this88.x * v13.y - _this88.y * v13.x;

                          _this88.x = _this88.y * v13.z - _this88.z * v13.y;
                          _this88.y = _y3;
                          _this88.z = _z3;
                          var invLen = Math.sqrt(_this88.x * _this88.x + _this88.y * _this88.y + _this88.z * _this88.z);

                          if (invLen > 0) {
                            invLen = 1 / invLen;
                          }

                          _this88.x *= invLen;
                          _this88.y *= invLen;
                          _this88.z *= invLen;
                          d.triangle(v1, v2, v3, normal, normal, normal, shapeColor);
                          normal.x = -normal.x;
                          normal.y = -normal.y;
                          normal.z = -normal.z;
                          d.triangle(v1, v3, v2, normal, normal, normal, shapeColor);
                        }
                      }
                    }
                  }

                  var _this10 = this._pool;

                  if (v1 != null) {
                    v1.zero();

                    if (_this10.sizeVec3 == _this10.stackVec3.length) {
                      var _newArray8 = new Array(_this10.sizeVec3 << 1);

                      var _g54 = 0;
                      var _g55 = _this10.sizeVec3;

                      while (_g54 < _g55) {
                        var _i15 = _g54++;

                        _newArray8[_i15] = _this10.stackVec3[_i15];
                        _this10.stackVec3[_i15] = null;
                      }

                      _this10.stackVec3 = _newArray8;
                    }

                    _this10.stackVec3[_this10.sizeVec3++] = v1;
                  }

                  var _this11 = this._pool;

                  if (v2 != null) {
                    v2.zero();

                    if (_this11.sizeVec3 == _this11.stackVec3.length) {
                      var _newArray9 = new Array(_this11.sizeVec3 << 1);

                      var _g56 = 0;
                      var _g57 = _this11.sizeVec3;

                      while (_g56 < _g57) {
                        var _i16 = _g56++;

                        _newArray9[_i16] = _this11.stackVec3[_i16];
                        _this11.stackVec3[_i16] = null;
                      }

                      _this11.stackVec3 = _newArray9;
                    }

                    _this11.stackVec3[_this11.sizeVec3++] = v2;
                  }

                  var _this12 = this._pool;

                  if (v3 != null) {
                    v3.zero();

                    if (_this12.sizeVec3 == _this12.stackVec3.length) {
                      var _newArray10 = new Array(_this12.sizeVec3 << 1);

                      var _g58 = 0;
                      var _g59 = _this12.sizeVec3;

                      while (_g58 < _g59) {
                        var _i17 = _g58++;

                        _newArray10[_i17] = _this12.stackVec3[_i17];
                        _this12.stackVec3[_i17] = null;
                      }

                      _this12.stackVec3 = _newArray10;
                    }

                    _this12.stackVec3[_this12.sizeVec3++] = v3;
                  }

                  var _this13 = this._pool;

                  if (v12 != null) {
                    v12.zero();

                    if (_this13.sizeVec3 == _this13.stackVec3.length) {
                      var _newArray11 = new Array(_this13.sizeVec3 << 1);

                      var _g60 = 0;
                      var _g61 = _this13.sizeVec3;

                      while (_g60 < _g61) {
                        var _i18 = _g60++;

                        _newArray11[_i18] = _this13.stackVec3[_i18];
                        _this13.stackVec3[_i18] = null;
                      }

                      _this13.stackVec3 = _newArray11;
                    }

                    _this13.stackVec3[_this13.sizeVec3++] = v12;
                  }

                  var _this14 = this._pool;

                  if (v13 != null) {
                    v13.zero();

                    if (_this14.sizeVec3 == _this14.stackVec3.length) {
                      var _newArray12 = new Array(_this14.sizeVec3 << 1);

                      var _g62 = 0;
                      var _g63 = _this14.sizeVec3;

                      while (_g62 < _g63) {
                        var _i19 = _g62++;

                        _newArray12[_i19] = _this14.stackVec3[_i19];
                        _this14.stackVec3[_i19] = null;
                      }

                      _this14.stackVec3 = _newArray12;
                    }

                    _this14.stackVec3[_this14.sizeVec3++] = v13;
                  }

                  var _this15 = this._pool;

                  if (normal != null) {
                    normal.zero();

                    if (_this15.sizeVec3 == _this15.stackVec3.length) {
                      var _newArray13 = new Array(_this15.sizeVec3 << 1);

                      var _g64 = 0;
                      var _g65 = _this15.sizeVec3;

                      while (_g64 < _g65) {
                        var _i20 = _g64++;

                        _newArray13[_i20] = _this15.stackVec3[_i20];
                        _this15.stackVec3[_i20] = null;
                      }

                      _this15.stackVec3 = _newArray13;
                    }

                    _this15.stackVec3[_this15.sizeVec3++] = normal;
                  }

                  var _this16 = this._pool;

                  if (m != null) {
                    m.e00 = 1;
                    m.e01 = 0;
                    m.e02 = 0;
                    m.e10 = 0;
                    m.e11 = 1;
                    m.e12 = 0;
                    m.e20 = 0;
                    m.e21 = 0;
                    m.e22 = 1;

                    if (_this16.sizeMat3 == _this16.stackMat3.length) {
                      var _newArray14 = new Array(_this16.sizeMat3 << 1);

                      var _g66 = 0;
                      var _g67 = _this16.sizeMat3;

                      while (_g66 < _g67) {
                        var _i21 = _g66++;

                        _newArray14[_i21] = _this16.stackMat3[_i21];
                        _this16.stackMat3[_i21] = null;
                      }

                      _this16.stackMat3 = _newArray14;
                    }

                    _this16.stackMat3[_this16.sizeMat3++] = m;
                  }

                  var _this17 = this._pool;

                  if (o != null) {
                    o.zero();

                    if (_this17.sizeVec3 == _this17.stackVec3.length) {
                      var _newArray15 = new Array(_this17.sizeVec3 << 1);

                      var _g68 = 0;
                      var _g69 = _this17.sizeVec3;

                      while (_g68 < _g69) {
                        var _i22 = _g68++;

                        _newArray15[_i22] = _this17.stackVec3[_i22];
                        _this17.stackVec3[_i22] = null;
                      }

                      _this17.stackVec3 = _newArray15;
                    }

                    _this17.stackVec3[_this17.sizeVec3++] = o;
                  }

                  break;
              }
            }

            if (d.drawAabbs) {
              var aabb = s._aabb;
              var color = style.aabbColor;
              var _this89 = this._pool;
              var min = _this89.sizeVec3 == 0 ? new oimo.common.Vec3() : _this89.stackVec3[--_this89.sizeVec3];
              var _this90 = this._pool;
              var max = _this90.sizeVec3 == 0 ? new oimo.common.Vec3() : _this90.stackVec3[--_this90.sizeVec3];
              var _v43 = min;
              _v43.x = aabb._minX;
              _v43.y = aabb._minY;
              _v43.z = aabb._minZ;
              var _v44 = max;
              _v44.x = aabb._maxX;
              _v44.y = aabb._maxY;
              _v44.z = aabb._maxZ;
              d.aabb(min, max, color);
              var _this91 = this._pool;

              if (min != null) {
                min.zero();

                if (_this91.sizeVec3 == _this91.stackVec3.length) {
                  var _newArray16 = new Array(_this91.sizeVec3 << 1);

                  var _g70 = 0;
                  var _g71 = _this91.sizeVec3;

                  while (_g70 < _g71) {
                    var _i23 = _g70++;

                    _newArray16[_i23] = _this91.stackVec3[_i23];
                    _this91.stackVec3[_i23] = null;
                  }

                  _this91.stackVec3 = _newArray16;
                }

                _this91.stackVec3[_this91.sizeVec3++] = min;
              }

              var _this92 = this._pool;

              if (max != null) {
                max.zero();

                if (_this92.sizeVec3 == _this92.stackVec3.length) {
                  var _newArray17 = new Array(_this92.sizeVec3 << 1);

                  var _g72 = 0;
                  var _g73 = _this92.sizeVec3;

                  while (_g72 < _g73) {
                    var _i24 = _g72++;

                    _newArray17[_i24] = _this92.stackVec3[_i24];
                    _this92.stackVec3[_i24] = null;
                  }

                  _this92.stackVec3 = _newArray17;
                }

                _this92.stackVec3[_this92.sizeVec3++] = max;
              }
            }

            s = _n3;
          }

          r = n;
        }
      }
    }, {
      key: "_drawConstraints",
      value: function _drawConstraints(d) {
        var style = d.style;

        if (d.drawPairs || d.drawContacts) {
          var c = this._contactManager._contactList;

          while (c != null) {
            var n = c._next;

            if (d.drawPairs) {
              var color = style.pairColor;
              var _this = this._pool;
              var v1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
              var _this1 = this._pool;
              var v2 = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
              var v = v1;
              v.x = c._s1._transform._positionX;
              v.y = c._s1._transform._positionY;
              v.z = c._s1._transform._positionZ;
              var v3 = v2;
              v3.x = c._s2._transform._positionX;
              v3.y = c._s2._transform._positionY;
              v3.z = c._s2._transform._positionZ;
              d.line(v1, v2, color);
              var _this2 = this._pool;

              if (v1 != null) {
                v1.zero();

                if (_this2.sizeVec3 == _this2.stackVec3.length) {
                  var newArray = new Array(_this2.sizeVec3 << 1);
                  var _g = 0;
                  var _g1 = _this2.sizeVec3;

                  while (_g < _g1) {
                    var i = _g++;
                    newArray[i] = _this2.stackVec3[i];
                    _this2.stackVec3[i] = null;
                  }

                  _this2.stackVec3 = newArray;
                }

                _this2.stackVec3[_this2.sizeVec3++] = v1;
              }

              var _this3 = this._pool;

              if (v2 != null) {
                v2.zero();

                if (_this3.sizeVec3 == _this3.stackVec3.length) {
                  var _newArray18 = new Array(_this3.sizeVec3 << 1);

                  var _g74 = 0;
                  var _g75 = _this3.sizeVec3;

                  while (_g74 < _g75) {
                    var _i25 = _g74++;

                    _newArray18[_i25] = _this3.stackVec3[_i25];
                    _this3.stackVec3[_i25] = null;
                  }

                  _this3.stackVec3 = _newArray18;
                }

                _this3.stackVec3[_this3.sizeVec3++] = v2;
              }
            }

            if (d.drawContacts) {
              var cc = c._contactConstraint;
              var ps = c._contactConstraint._manifold._points;
              var _g76 = 0;
              var _g77 = c._contactConstraint._manifold._numPoints;

              while (_g76 < _g77) {
                var p = ps[_g76++];
                var _style2 = d.style;
                var _this93 = this._pool;
                var pos1 = _this93.sizeVec3 == 0 ? new oimo.common.Vec3() : _this93.stackVec3[--_this93.sizeVec3];
                var _this94 = this._pool;
                var pos2 = _this94.sizeVec3 == 0 ? new oimo.common.Vec3() : _this94.stackVec3[--_this94.sizeVec3];
                var _this95 = this._pool;
                var normal = _this95.sizeVec3 == 0 ? new oimo.common.Vec3() : _this95.stackVec3[--_this95.sizeVec3];
                var _this96 = this._pool;
                var tangent = _this96.sizeVec3 == 0 ? new oimo.common.Vec3() : _this96.stackVec3[--_this96.sizeVec3];
                var _this4 = this._pool;
                var binormal = _this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3];
                var _v45 = pos1;
                _v45.x = p._pos1X;
                _v45.y = p._pos1Y;
                _v45.z = p._pos1Z;
                var _v46 = pos2;
                _v46.x = p._pos2X;
                _v46.y = p._pos2Y;
                _v46.z = p._pos2Z;
                var _v47 = normal;
                _v47.x = cc._manifold._normalX;
                _v47.y = cc._manifold._normalY;
                _v47.z = cc._manifold._normalZ;
                var _v48 = tangent;
                _v48.x = cc._manifold._tangentX;
                _v48.y = cc._manifold._tangentY;
                _v48.z = cc._manifold._tangentZ;
                var v4 = binormal;
                v4.x = cc._manifold._binormalX;
                v4.y = cc._manifold._binormalY;
                v4.z = cc._manifold._binormalZ;

                if (p._disabled) {
                  d.point(pos1, _style2.disabledContactColor);
                  d.point(pos2, _style2.disabledContactColor);
                  d.line(pos1, pos2, _style2.disabledContactColor);
                } else if (p._warmStarted) {
                  var _color = void 0;

                  switch (p._id & 3) {
                    case 0:
                      _color = _style2.contactColor;
                      break;

                    case 1:
                      _color = _style2.contactColor2;
                      break;

                    case 2:
                      _color = _style2.contactColor3;
                      break;

                    default:
                      _color = _style2.contactColor4;
                  }

                  d.point(pos1, _color);
                  d.point(pos2, _color);
                  d.line(pos1, pos2, _style2.contactColor);
                } else {
                  d.point(pos1, _style2.newContactColor);
                  d.point(pos2, _style2.newContactColor);
                  d.line(pos1, pos2, _style2.newContactColor);
                }

                pos2.x = pos1.x;
                pos2.y = pos1.y;
                pos2.z = pos1.z;
                var _this5 = pos2;
                var s = _style2.contactNormalLength;
                _this5.x += normal.x * s;
                _this5.y += normal.y * s;
                _this5.z += normal.z * s;
                d.line(pos1, pos2, _style2.contactNormalColor);

                if (d.drawContactBases) {
                  pos2.x = pos1.x;
                  pos2.y = pos1.y;
                  pos2.z = pos1.z;
                  var _this97 = pos2;
                  var _s7 = _style2.contactTangentLength;
                  _this97.x += tangent.x * _s7;
                  _this97.y += tangent.y * _s7;
                  _this97.z += tangent.z * _s7;
                  d.line(pos1, pos2, _style2.contactTangentColor);
                  pos2.x = pos1.x;
                  pos2.y = pos1.y;
                  pos2.z = pos1.z;
                  var _this98 = pos2;
                  var s1 = _style2.contactBinormalLength;
                  _this98.x += binormal.x * s1;
                  _this98.y += binormal.y * s1;
                  _this98.z += binormal.z * s1;
                  d.line(pos1, pos2, _style2.contactBinormalColor);
                }

                var _this6 = this._pool;

                if (pos1 != null) {
                  pos1.zero();

                  if (_this6.sizeVec3 == _this6.stackVec3.length) {
                    var _newArray19 = new Array(_this6.sizeVec3 << 1);

                    var _g78 = 0;
                    var _g79 = _this6.sizeVec3;

                    while (_g78 < _g79) {
                      var _i26 = _g78++;

                      _newArray19[_i26] = _this6.stackVec3[_i26];
                      _this6.stackVec3[_i26] = null;
                    }

                    _this6.stackVec3 = _newArray19;
                  }

                  _this6.stackVec3[_this6.sizeVec3++] = pos1;
                }

                var _this7 = this._pool;

                if (pos2 != null) {
                  pos2.zero();

                  if (_this7.sizeVec3 == _this7.stackVec3.length) {
                    var _newArray20 = new Array(_this7.sizeVec3 << 1);

                    var _g80 = 0;
                    var _g81 = _this7.sizeVec3;

                    while (_g80 < _g81) {
                      var _i27 = _g80++;

                      _newArray20[_i27] = _this7.stackVec3[_i27];
                      _this7.stackVec3[_i27] = null;
                    }

                    _this7.stackVec3 = _newArray20;
                  }

                  _this7.stackVec3[_this7.sizeVec3++] = pos2;
                }

                var _this8 = this._pool;

                if (normal != null) {
                  normal.zero();

                  if (_this8.sizeVec3 == _this8.stackVec3.length) {
                    var _newArray21 = new Array(_this8.sizeVec3 << 1);

                    var _g82 = 0;
                    var _g83 = _this8.sizeVec3;

                    while (_g82 < _g83) {
                      var _i28 = _g82++;

                      _newArray21[_i28] = _this8.stackVec3[_i28];
                      _this8.stackVec3[_i28] = null;
                    }

                    _this8.stackVec3 = _newArray21;
                  }

                  _this8.stackVec3[_this8.sizeVec3++] = normal;
                }

                var _this9 = this._pool;

                if (tangent != null) {
                  tangent.zero();

                  if (_this9.sizeVec3 == _this9.stackVec3.length) {
                    var _newArray22 = new Array(_this9.sizeVec3 << 1);

                    var _g84 = 0;
                    var _g85 = _this9.sizeVec3;

                    while (_g84 < _g85) {
                      var _i29 = _g84++;

                      _newArray22[_i29] = _this9.stackVec3[_i29];
                      _this9.stackVec3[_i29] = null;
                    }

                    _this9.stackVec3 = _newArray22;
                  }

                  _this9.stackVec3[_this9.sizeVec3++] = tangent;
                }

                var _this10 = this._pool;

                if (binormal != null) {
                  binormal.zero();

                  if (_this10.sizeVec3 == _this10.stackVec3.length) {
                    var _newArray23 = new Array(_this10.sizeVec3 << 1);

                    var _g86 = 0;
                    var _g87 = _this10.sizeVec3;

                    while (_g86 < _g87) {
                      var _i30 = _g86++;

                      _newArray23[_i30] = _this10.stackVec3[_i30];
                      _this10.stackVec3[_i30] = null;
                    }

                    _this10.stackVec3 = _newArray23;
                  }

                  _this10.stackVec3[_this10.sizeVec3++] = binormal;
                }
              }
            }

            c = n;
          }
        }

        if (d.drawJoints) {
          var j = this._jointList;

          while (j != null) {
            var _n5 = j._next;
            var _this99 = this._pool;
            var p1 = _this99.sizeVec3 == 0 ? new oimo.common.Vec3() : _this99.stackVec3[--_this99.sizeVec3];
            var _this100 = this._pool;
            var p2 = _this100.sizeVec3 == 0 ? new oimo.common.Vec3() : _this100.stackVec3[--_this100.sizeVec3];
            var _v49 = p1;
            _v49.x = j._b1._transform._positionX;
            _v49.y = j._b1._transform._positionY;
            _v49.z = j._b1._transform._positionZ;
            var _v50 = p2;
            _v50.x = j._b2._transform._positionX;
            _v50.y = j._b2._transform._positionY;
            _v50.z = j._b2._transform._positionZ;
            var _this101 = this._pool;
            var anchor1 = _this101.sizeVec3 == 0 ? new oimo.common.Vec3() : _this101.stackVec3[--_this101.sizeVec3];
            var _this102 = this._pool;
            var anchor2 = _this102.sizeVec3 == 0 ? new oimo.common.Vec3() : _this102.stackVec3[--_this102.sizeVec3];
            var _this103 = this._pool;
            var basisX1 = _this103.sizeVec3 == 0 ? new oimo.common.Vec3() : _this103.stackVec3[--_this103.sizeVec3];
            var _this104 = this._pool;
            var basisY1 = _this104.sizeVec3 == 0 ? new oimo.common.Vec3() : _this104.stackVec3[--_this104.sizeVec3];
            var _this105 = this._pool;
            var basisZ1 = _this105.sizeVec3 == 0 ? new oimo.common.Vec3() : _this105.stackVec3[--_this105.sizeVec3];
            var _this106 = this._pool;
            var basisX2 = _this106.sizeVec3 == 0 ? new oimo.common.Vec3() : _this106.stackVec3[--_this106.sizeVec3];
            var _this107 = this._pool;
            var basisY2 = _this107.sizeVec3 == 0 ? new oimo.common.Vec3() : _this107.stackVec3[--_this107.sizeVec3];
            var _this108 = this._pool;
            var basisZ2 = _this108.sizeVec3 == 0 ? new oimo.common.Vec3() : _this108.stackVec3[--_this108.sizeVec3];
            var _v51 = anchor1;
            _v51.x = j._anchor1X;
            _v51.y = j._anchor1Y;
            _v51.z = j._anchor1Z;
            var _v52 = anchor2;
            _v52.x = j._anchor2X;
            _v52.y = j._anchor2Y;
            _v52.z = j._anchor2Z;
            var _v53 = basisX1;
            _v53.x = j._basisX1X;
            _v53.y = j._basisX1Y;
            _v53.z = j._basisX1Z;
            var v5 = basisY1;
            v5.x = j._basisY1X;
            v5.y = j._basisY1Y;
            v5.z = j._basisY1Z;
            var v6 = basisZ1;
            v6.x = j._basisZ1X;
            v6.y = j._basisZ1Y;
            v6.z = j._basisZ1Z;
            var v7 = basisX2;
            v7.x = j._basisX2X;
            v7.y = j._basisX2Y;
            v7.z = j._basisX2Z;
            var v8 = basisY2;
            v8.x = j._basisY2X;
            v8.y = j._basisY2Y;
            v8.z = j._basisY2Z;
            var v9 = basisZ2;
            v9.x = j._basisZ2X;
            v9.y = j._basisZ2Y;
            v9.z = j._basisZ2Z;
            d.line(p1, anchor1, d.style.jointLineColor);
            d.line(p2, anchor2, d.style.jointLineColor);

            if (d.drawJointLimits) {
              switch (j._type) {
                case 0:
                  break;

                case 1:
                  var lm = j._lm;

                  this._drawRotationalLimit(d, anchor1, basisY1, basisZ1, basisY2, d.style.jointRotationalConstraintRadius, lm.lowerLimit, lm.upperLimit, d.style.jointLineColor);

                  break;

                case 2:
                  var j1 = j;
                  var _color2 = d.style.jointLineColor;
                  var rlm = j1._rotLm;
                  var tlm = j1._translLm;

                  this._drawRotationalLimit(d, anchor2, basisY1, basisZ1, basisY2, d.style.jointRotationalConstraintRadius, rlm.lowerLimit, rlm.upperLimit, _color2);

                  this._drawTranslationalLimit(d, anchor1, basisX1, tlm.lowerLimit, tlm.upperLimit, _color2);

                  break;

                case 3:
                  var lm1 = j._lm;

                  this._drawTranslationalLimit(d, anchor1, basisX1, lm1.lowerLimit, lm1.upperLimit, d.style.jointLineColor);

                  break;

                case 4:
                  var j2 = j;
                  var radius = d.style.jointRotationalConstraintRadius;
                  var color1 = d.style.jointLineColor;
                  var lm11 = j2._lm1;
                  var lm2 = j2._lm2;

                  this._drawRotationalLimit(d, anchor1, basisY1, basisZ1, basisY1, radius, j2._angleX - lm11.upperLimit, j2._angleX - lm11.lowerLimit, color1);

                  this._drawRotationalLimit(d, anchor2, basisX2, basisY2, basisX2, radius, lm2.lowerLimit - j2._angleZ, lm2.upperLimit - j2._angleZ, color1);

                  break;

                case 5:
                  var j3 = j;
                  var radius1 = d.style.jointRotationalConstraintRadius;
                  var color2 = d.style.jointLineColor;
                  var lm3 = j3._twistLm;

                  this._drawRotationalLimit(d, anchor2, basisY2, basisZ2, basisY2, radius1, lm3.lowerLimit - j3._twistAngle, lm3.upperLimit - j3._twistAngle, color2);

                  this._drawEllipseOnSphere(d, anchor1, basisX1, basisY1, basisZ1, j3._maxSwingAngle1, j3._maxSwingAngle2, radius1, color2);

                  var _this109 = this._pool;

                  var _this11 = _this109.sizeVec3 == 0 ? new oimo.common.Vec3() : _this109.stackVec3[--_this109.sizeVec3];

                  _this11.x = anchor2.x;
                  _this11.y = anchor2.y;
                  _this11.z = anchor2.z;
                  var _this12 = _this11;
                  _this12.x += basisX2.x * radius1;
                  _this12.y += basisX2.y * radius1;
                  _this12.z += basisX2.z * radius1;
                  d.line(anchor2, _this12, color2);
                  var _this13 = this._pool;

                  if (_this12 != null) {
                    _this12.zero();

                    if (_this13.sizeVec3 == _this13.stackVec3.length) {
                      var _newArray24 = new Array(_this13.sizeVec3 << 1);

                      var _g88 = 0;
                      var _g89 = _this13.sizeVec3;

                      while (_g88 < _g89) {
                        var _i31 = _g88++;

                        _newArray24[_i31] = _this13.stackVec3[_i31];
                        _this13.stackVec3[_i31] = null;
                      }

                      _this13.stackVec3 = _newArray24;
                    }

                    _this13.stackVec3[_this13.sizeVec3++] = _this12;
                  }

                  break;

                case 6:
                  var j4 = j;
                  var radius2 = d.style.jointRotationalConstraintRadius;
                  var color3 = d.style.jointLineColor;
                  var rxlm = j4._rotLms[0];
                  var rylm = j4._rotLms[1];
                  var rzlm = j4._rotLms[2];

                  this._drawTranslationalLimit3D(d, anchor1, basisX1, basisY1, basisZ1, j4._translLms[0], j4._translLms[1], j4._translLms[2], color3);

                  var _this14 = this._pool;
                  var rotYAxis = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];
                  var v10 = rotYAxis;
                  v10.x = j4._axisYX;
                  v10.y = j4._axisYY;
                  v10.z = j4._axisYZ;
                  var _this15 = this._pool;

                  var _this16 = _this15.sizeVec3 == 0 ? new oimo.common.Vec3() : _this15.stackVec3[--_this15.sizeVec3];

                  _this16.x = basisX1.x;
                  _this16.y = basisX1.y;
                  _this16.z = basisX1.z;
                  var rotYBasisX = _this16;
                  var _this17 = this._pool;

                  var _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];

                  _this18.x = basisX1.x;
                  _this18.y = basisX1.y;
                  _this18.z = basisX1.z;
                  var _this19 = _this18;
                  var y = _this19.z * rotYAxis.x - _this19.x * rotYAxis.z;
                  var z = _this19.x * rotYAxis.y - _this19.y * rotYAxis.x;
                  _this19.x = _this19.y * rotYAxis.z - _this19.z * rotYAxis.y;
                  _this19.y = y;
                  _this19.z = z;

                  this._drawRotationalLimit(d, anchor2, basisY1, basisZ1, basisY1, radius2, j4._angleX - rxlm.upperLimit, j4._angleX - rxlm.lowerLimit, color3);

                  this._drawRotationalLimit(d, anchor2, rotYBasisX, _this19, rotYBasisX, radius2, rylm.lowerLimit - j4._angleY, rylm.upperLimit - j4._angleY, color3);

                  this._drawRotationalLimit(d, anchor2, basisX2, basisY2, basisX2, radius2, rzlm.lowerLimit - j4._angleZ, rzlm.upperLimit - j4._angleZ, color3);

                  break;
              }
            }

            d.line(anchor1, anchor2, d.style.jointErrorColor);
            var _this20 = this._pool;

            if (p1 != null) {
              p1.zero();

              if (_this20.sizeVec3 == _this20.stackVec3.length) {
                var _newArray25 = new Array(_this20.sizeVec3 << 1);

                var _g90 = 0;
                var _g91 = _this20.sizeVec3;

                while (_g90 < _g91) {
                  var _i32 = _g90++;

                  _newArray25[_i32] = _this20.stackVec3[_i32];
                  _this20.stackVec3[_i32] = null;
                }

                _this20.stackVec3 = _newArray25;
              }

              _this20.stackVec3[_this20.sizeVec3++] = p1;
            }

            var _this21 = this._pool;

            if (p2 != null) {
              p2.zero();

              if (_this21.sizeVec3 == _this21.stackVec3.length) {
                var _newArray26 = new Array(_this21.sizeVec3 << 1);

                var _g92 = 0;
                var _g93 = _this21.sizeVec3;

                while (_g92 < _g93) {
                  var _i33 = _g92++;

                  _newArray26[_i33] = _this21.stackVec3[_i33];
                  _this21.stackVec3[_i33] = null;
                }

                _this21.stackVec3 = _newArray26;
              }

              _this21.stackVec3[_this21.sizeVec3++] = p2;
            }

            var _this22 = this._pool;

            if (anchor1 != null) {
              anchor1.zero();

              if (_this22.sizeVec3 == _this22.stackVec3.length) {
                var _newArray27 = new Array(_this22.sizeVec3 << 1);

                var _g94 = 0;
                var _g95 = _this22.sizeVec3;

                while (_g94 < _g95) {
                  var _i34 = _g94++;

                  _newArray27[_i34] = _this22.stackVec3[_i34];
                  _this22.stackVec3[_i34] = null;
                }

                _this22.stackVec3 = _newArray27;
              }

              _this22.stackVec3[_this22.sizeVec3++] = anchor1;
            }

            var _this23 = this._pool;

            if (anchor2 != null) {
              anchor2.zero();

              if (_this23.sizeVec3 == _this23.stackVec3.length) {
                var _newArray28 = new Array(_this23.sizeVec3 << 1);

                var _g96 = 0;
                var _g97 = _this23.sizeVec3;

                while (_g96 < _g97) {
                  var _i35 = _g96++;

                  _newArray28[_i35] = _this23.stackVec3[_i35];
                  _this23.stackVec3[_i35] = null;
                }

                _this23.stackVec3 = _newArray28;
              }

              _this23.stackVec3[_this23.sizeVec3++] = anchor2;
            }

            var _this24 = this._pool;

            if (basisX1 != null) {
              basisX1.zero();

              if (_this24.sizeVec3 == _this24.stackVec3.length) {
                var _newArray29 = new Array(_this24.sizeVec3 << 1);

                var _g98 = 0;
                var _g99 = _this24.sizeVec3;

                while (_g98 < _g99) {
                  var _i36 = _g98++;

                  _newArray29[_i36] = _this24.stackVec3[_i36];
                  _this24.stackVec3[_i36] = null;
                }

                _this24.stackVec3 = _newArray29;
              }

              _this24.stackVec3[_this24.sizeVec3++] = basisX1;
            }

            var _this25 = this._pool;

            if (basisY1 != null) {
              basisY1.zero();

              if (_this25.sizeVec3 == _this25.stackVec3.length) {
                var _newArray30 = new Array(_this25.sizeVec3 << 1);

                var _g100 = 0;
                var _g101 = _this25.sizeVec3;

                while (_g100 < _g101) {
                  var _i37 = _g100++;

                  _newArray30[_i37] = _this25.stackVec3[_i37];
                  _this25.stackVec3[_i37] = null;
                }

                _this25.stackVec3 = _newArray30;
              }

              _this25.stackVec3[_this25.sizeVec3++] = basisY1;
            }

            var _this26 = this._pool;

            if (basisZ1 != null) {
              basisZ1.zero();

              if (_this26.sizeVec3 == _this26.stackVec3.length) {
                var _newArray31 = new Array(_this26.sizeVec3 << 1);

                var _g102 = 0;
                var _g103 = _this26.sizeVec3;

                while (_g102 < _g103) {
                  var _i38 = _g102++;

                  _newArray31[_i38] = _this26.stackVec3[_i38];
                  _this26.stackVec3[_i38] = null;
                }

                _this26.stackVec3 = _newArray31;
              }

              _this26.stackVec3[_this26.sizeVec3++] = basisZ1;
            }

            var _this27 = this._pool;

            if (basisX2 != null) {
              basisX2.zero();

              if (_this27.sizeVec3 == _this27.stackVec3.length) {
                var _newArray32 = new Array(_this27.sizeVec3 << 1);

                var _g104 = 0;
                var _g105 = _this27.sizeVec3;

                while (_g104 < _g105) {
                  var _i39 = _g104++;

                  _newArray32[_i39] = _this27.stackVec3[_i39];
                  _this27.stackVec3[_i39] = null;
                }

                _this27.stackVec3 = _newArray32;
              }

              _this27.stackVec3[_this27.sizeVec3++] = basisX2;
            }

            var _this28 = this._pool;

            if (basisY2 != null) {
              basisY2.zero();

              if (_this28.sizeVec3 == _this28.stackVec3.length) {
                var _newArray33 = new Array(_this28.sizeVec3 << 1);

                var _g106 = 0;
                var _g107 = _this28.sizeVec3;

                while (_g106 < _g107) {
                  var _i40 = _g106++;

                  _newArray33[_i40] = _this28.stackVec3[_i40];
                  _this28.stackVec3[_i40] = null;
                }

                _this28.stackVec3 = _newArray33;
              }

              _this28.stackVec3[_this28.sizeVec3++] = basisY2;
            }

            var _this29 = this._pool;

            if (basisZ2 != null) {
              basisZ2.zero();

              if (_this29.sizeVec3 == _this29.stackVec3.length) {
                var _newArray34 = new Array(_this29.sizeVec3 << 1);

                var _g108 = 0;
                var _g109 = _this29.sizeVec3;

                while (_g108 < _g109) {
                  var _i41 = _g108++;

                  _newArray34[_i41] = _this29.stackVec3[_i41];
                  _this29.stackVec3[_i41] = null;
                }

                _this29.stackVec3 = _newArray34;
              }

              _this29.stackVec3[_this29.sizeVec3++] = basisZ2;
            }

            j = _n5;
          }
        }
      }
    }, {
      key: "_drawRotationalLimit",
      value: function _drawRotationalLimit(d, center, ex, ey, needle, radius, min, max, color) {
        if (min != max) {
          var _this = this._pool;

          var _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];

          _this1.x = center.x;
          _this1.y = center.y;
          _this1.z = center.z;
          var _this2 = _this1;
          _this2.x += needle.x * radius;
          _this2.y += needle.y * radius;
          _this2.z += needle.z * radius;
          d.line(center, _this2, color);
          var _this3 = this._pool;

          if (_this2 != null) {
            _this2.zero();

            if (_this3.sizeVec3 == _this3.stackVec3.length) {
              var newArray = new Array(_this3.sizeVec3 << 1);
              var _g = 0;
              var _g1 = _this3.sizeVec3;

              while (_g < _g1) {
                var i = _g++;
                newArray[i] = _this3.stackVec3[i];
                _this3.stackVec3[i] = null;
              }

              _this3.stackVec3 = newArray;
            }

            _this3.stackVec3[_this3.sizeVec3++] = _this2;
          }

          if (min > max) {
            d.ellipse(center, ex, ey, radius, radius, color);
          } else {
            d.arc(center, ex, ey, radius, radius, min, max, true, color);
          }
        }
      }
    }, {
      key: "_drawTranslationalLimit",
      value: function _drawTranslationalLimit(d, center, ex, min, max, color) {
        if (min < max) {
          var _this = this._pool;

          var _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];

          _this1.x = center.x;
          _this1.y = center.y;
          _this1.z = center.z;
          var _this2 = _this1;
          _this2.x += ex.x * min;
          _this2.y += ex.y * min;
          _this2.z += ex.z * min;
          var _this3 = this._pool;

          var _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];

          _this4.x = center.x;
          _this4.y = center.y;
          _this4.z = center.z;
          var _this5 = _this4;
          _this5.x += ex.x * max;
          _this5.y += ex.y * max;
          _this5.z += ex.z * max;
          d.line(_this2, _this5, color);
          var _this6 = this._pool;

          if (_this2 != null) {
            _this2.zero();

            if (_this6.sizeVec3 == _this6.stackVec3.length) {
              var newArray = new Array(_this6.sizeVec3 << 1);
              var _g = 0;
              var _g1 = _this6.sizeVec3;

              while (_g < _g1) {
                var i = _g++;
                newArray[i] = _this6.stackVec3[i];
                _this6.stackVec3[i] = null;
              }

              _this6.stackVec3 = newArray;
            }

            _this6.stackVec3[_this6.sizeVec3++] = _this2;
          }

          var _this7 = this._pool;

          if (_this5 != null) {
            _this5.zero();

            if (_this7.sizeVec3 == _this7.stackVec3.length) {
              var _newArray35 = new Array(_this7.sizeVec3 << 1);

              var _g110 = 0;
              var _g111 = _this7.sizeVec3;

              while (_g110 < _g111) {
                var _i42 = _g110++;

                _newArray35[_i42] = _this7.stackVec3[_i42];
                _this7.stackVec3[_i42] = null;
              }

              _this7.stackVec3 = _newArray35;
            }

            _this7.stackVec3[_this7.sizeVec3++] = _this5;
          }
        }
      }
    }, {
      key: "_drawTranslationalLimit3D",
      value: function _drawTranslationalLimit3D(d, center, ex, ey, ez, xlm, ylm, zlm, color) {
        var minx = xlm.lowerLimit;
        var maxx = xlm.upperLimit;
        var miny = ylm.lowerLimit;
        var maxy = ylm.upperLimit;
        var minz = zlm.lowerLimit;
        var maxz = zlm.upperLimit;
        var _this = this._pool;

        if (_this.sizeVec3 == 0) {
          new oimo.common.Vec3();
        } else {
          --_this.sizeVec3;
        }

        var _this1 = this._pool;

        if (_this1.sizeVec3 == 0) {
          new oimo.common.Vec3();
        } else {
          --_this1.sizeVec3;
        }

        var _this2 = this._pool;

        var _this3 = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];

        _this3.x = center.x;
        _this3.y = center.y;
        _this3.z = center.z;
        var _this4 = _this3;
        _this4.x += ex.x * minx;
        _this4.y += ex.y * minx;
        _this4.z += ex.z * minx;
        _this4.x += ey.x * miny;
        _this4.y += ey.y * miny;
        _this4.z += ey.z * miny;
        _this4.x += ez.x * minz;
        _this4.y += ez.y * minz;
        _this4.z += ez.z * minz;
        var _this5 = this._pool;

        var _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];

        _this6.x = center.x;
        _this6.y = center.y;
        _this6.z = center.z;
        var _this7 = _this6;
        _this7.x += ex.x * minx;
        _this7.y += ex.y * minx;
        _this7.z += ex.z * minx;
        _this7.x += ey.x * miny;
        _this7.y += ey.y * miny;
        _this7.z += ey.z * miny;
        _this7.x += ez.x * maxz;
        _this7.y += ez.y * maxz;
        _this7.z += ez.z * maxz;
        var _this8 = this._pool;

        var _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];

        _this9.x = center.x;
        _this9.y = center.y;
        _this9.z = center.z;
        var _this10 = _this9;
        _this10.x += ex.x * minx;
        _this10.y += ex.y * minx;
        _this10.z += ex.z * minx;
        _this10.x += ey.x * maxy;
        _this10.y += ey.y * maxy;
        _this10.z += ey.z * maxy;
        _this10.x += ez.x * minz;
        _this10.y += ez.y * minz;
        _this10.z += ez.z * minz;
        var _this11 = this._pool;

        var _this12 = _this11.sizeVec3 == 0 ? new oimo.common.Vec3() : _this11.stackVec3[--_this11.sizeVec3];

        _this12.x = center.x;
        _this12.y = center.y;
        _this12.z = center.z;
        var _this13 = _this12;
        _this13.x += ex.x * minx;
        _this13.y += ex.y * minx;
        _this13.z += ex.z * minx;
        _this13.x += ey.x * maxy;
        _this13.y += ey.y * maxy;
        _this13.z += ey.z * maxy;
        _this13.x += ez.x * maxz;
        _this13.y += ez.y * maxz;
        _this13.z += ez.z * maxz;
        var _this14 = this._pool;

        var _this15 = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];

        _this15.x = center.x;
        _this15.y = center.y;
        _this15.z = center.z;
        var _this16 = _this15;
        _this16.x += ex.x * maxx;
        _this16.y += ex.y * maxx;
        _this16.z += ex.z * maxx;
        _this16.x += ey.x * miny;
        _this16.y += ey.y * miny;
        _this16.z += ey.z * miny;
        _this16.x += ez.x * minz;
        _this16.y += ez.y * minz;
        _this16.z += ez.z * minz;
        var _this17 = this._pool;

        var _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];

        _this18.x = center.x;
        _this18.y = center.y;
        _this18.z = center.z;
        var _this19 = _this18;
        _this19.x += ex.x * maxx;
        _this19.y += ex.y * maxx;
        _this19.z += ex.z * maxx;
        _this19.x += ey.x * miny;
        _this19.y += ey.y * miny;
        _this19.z += ey.z * miny;
        _this19.x += ez.x * maxz;
        _this19.y += ez.y * maxz;
        _this19.z += ez.z * maxz;
        var _this20 = this._pool;

        var _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];

        _this21.x = center.x;
        _this21.y = center.y;
        _this21.z = center.z;
        var _this22 = _this21;
        _this22.x += ex.x * maxx;
        _this22.y += ex.y * maxx;
        _this22.z += ex.z * maxx;
        _this22.x += ey.x * maxy;
        _this22.y += ey.y * maxy;
        _this22.z += ey.z * maxy;
        _this22.x += ez.x * minz;
        _this22.y += ez.y * minz;
        _this22.z += ez.z * minz;
        var _this23 = this._pool;

        var _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];

        _this24.x = center.x;
        _this24.y = center.y;
        _this24.z = center.z;
        var _this25 = _this24;
        _this25.x += ex.x * maxx;
        _this25.y += ex.y * maxx;
        _this25.z += ex.z * maxx;
        _this25.x += ey.x * maxy;
        _this25.y += ey.y * maxy;
        _this25.z += ey.z * maxy;
        _this25.x += ez.x * maxz;
        _this25.y += ez.y * maxz;
        _this25.z += ez.z * maxz;
        d.line(_this4, _this16, color);
        d.line(_this10, _this22, color);
        d.line(_this7, _this19, color);
        d.line(_this13, _this25, color);
        d.line(_this4, _this10, color);
        d.line(_this16, _this22, color);
        d.line(_this7, _this13, color);
        d.line(_this19, _this25, color);
        d.line(_this4, _this7, color);
        d.line(_this16, _this19, color);
        d.line(_this10, _this13, color);
        d.line(_this22, _this25, color);
        var _this26 = this._pool;

        if (_this4 != null) {
          _this4.zero();

          if (_this26.sizeVec3 == _this26.stackVec3.length) {
            var newArray = new Array(_this26.sizeVec3 << 1);
            var _g = 0;
            var _g1 = _this26.sizeVec3;

            while (_g < _g1) {
              var i = _g++;
              newArray[i] = _this26.stackVec3[i];
              _this26.stackVec3[i] = null;
            }

            _this26.stackVec3 = newArray;
          }

          _this26.stackVec3[_this26.sizeVec3++] = _this4;
        }

        var _this27 = this._pool;

        if (_this7 != null) {
          _this7.zero();

          if (_this27.sizeVec3 == _this27.stackVec3.length) {
            var _newArray36 = new Array(_this27.sizeVec3 << 1);

            var _g112 = 0;
            var _g113 = _this27.sizeVec3;

            while (_g112 < _g113) {
              var _i43 = _g112++;

              _newArray36[_i43] = _this27.stackVec3[_i43];
              _this27.stackVec3[_i43] = null;
            }

            _this27.stackVec3 = _newArray36;
          }

          _this27.stackVec3[_this27.sizeVec3++] = _this7;
        }

        var _this28 = this._pool;

        if (_this10 != null) {
          _this10.zero();

          if (_this28.sizeVec3 == _this28.stackVec3.length) {
            var _newArray37 = new Array(_this28.sizeVec3 << 1);

            var _g114 = 0;
            var _g115 = _this28.sizeVec3;

            while (_g114 < _g115) {
              var _i44 = _g114++;

              _newArray37[_i44] = _this28.stackVec3[_i44];
              _this28.stackVec3[_i44] = null;
            }

            _this28.stackVec3 = _newArray37;
          }

          _this28.stackVec3[_this28.sizeVec3++] = _this10;
        }

        var _this29 = this._pool;

        if (_this13 != null) {
          _this13.zero();

          if (_this29.sizeVec3 == _this29.stackVec3.length) {
            var _newArray38 = new Array(_this29.sizeVec3 << 1);

            var _g116 = 0;
            var _g117 = _this29.sizeVec3;

            while (_g116 < _g117) {
              var _i45 = _g116++;

              _newArray38[_i45] = _this29.stackVec3[_i45];
              _this29.stackVec3[_i45] = null;
            }

            _this29.stackVec3 = _newArray38;
          }

          _this29.stackVec3[_this29.sizeVec3++] = _this13;
        }

        var _this30 = this._pool;

        if (_this16 != null) {
          _this16.zero();

          if (_this30.sizeVec3 == _this30.stackVec3.length) {
            var _newArray39 = new Array(_this30.sizeVec3 << 1);

            var _g118 = 0;
            var _g119 = _this30.sizeVec3;

            while (_g118 < _g119) {
              var _i46 = _g118++;

              _newArray39[_i46] = _this30.stackVec3[_i46];
              _this30.stackVec3[_i46] = null;
            }

            _this30.stackVec3 = _newArray39;
          }

          _this30.stackVec3[_this30.sizeVec3++] = _this16;
        }

        var _this31 = this._pool;

        if (_this19 != null) {
          _this19.zero();

          if (_this31.sizeVec3 == _this31.stackVec3.length) {
            var _newArray40 = new Array(_this31.sizeVec3 << 1);

            var _g120 = 0;
            var _g121 = _this31.sizeVec3;

            while (_g120 < _g121) {
              var _i47 = _g120++;

              _newArray40[_i47] = _this31.stackVec3[_i47];
              _this31.stackVec3[_i47] = null;
            }

            _this31.stackVec3 = _newArray40;
          }

          _this31.stackVec3[_this31.sizeVec3++] = _this19;
        }

        var _this32 = this._pool;

        if (_this22 != null) {
          _this22.zero();

          if (_this32.sizeVec3 == _this32.stackVec3.length) {
            var _newArray41 = new Array(_this32.sizeVec3 << 1);

            var _g122 = 0;
            var _g123 = _this32.sizeVec3;

            while (_g122 < _g123) {
              var _i48 = _g122++;

              _newArray41[_i48] = _this32.stackVec3[_i48];
              _this32.stackVec3[_i48] = null;
            }

            _this32.stackVec3 = _newArray41;
          }

          _this32.stackVec3[_this32.sizeVec3++] = _this22;
        }

        var _this33 = this._pool;

        if (_this25 != null) {
          _this25.zero();

          if (_this33.sizeVec3 == _this33.stackVec3.length) {
            var _newArray42 = new Array(_this33.sizeVec3 << 1);

            var _g124 = 0;
            var _g125 = _this33.sizeVec3;

            while (_g124 < _g125) {
              var _i49 = _g124++;

              _newArray42[_i49] = _this33.stackVec3[_i49];
              _this33.stackVec3[_i49] = null;
            }

            _this33.stackVec3 = _newArray42;
          }

          _this33.stackVec3[_this33.sizeVec3++] = _this25;
        }
      }
    }, {
      key: "_drawEllipseOnSphere",
      value: function _drawEllipseOnSphere(d, center, normal, x, y, radiansX, radiansY, radius, color) {
        var theta = 0;
        var _this = this._pool;
        var rotVec = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
        var _this1 = this._pool;
        var rotQ = _this1.sizeQuat == 0 ? new oimo.common.Quat() : _this1.stackQuat[--_this1.sizeQuat];
        var _this2 = this._pool;
        var rotM = _this2.sizeMat3 == 0 ? new oimo.common.Mat3() : _this2.stackMat3[--_this2.sizeMat3];
        var _this3 = this._pool;
        var prevV = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
        var _g = 0;

        while (_g < 17) {
          var i = _g++;
          var rx = Math.cos(theta) * radiansX;
          var ry = Math.sin(theta) * radiansY;
          var halfRotAng = Math.sqrt(rx * rx + ry * ry);
          var rotSin = Math.sin(halfRotAng * 0.5);
          var rotCos = Math.cos(halfRotAng * 0.5);

          var _this110 = rotVec.zero();

          _this110.x += x.x * rx;
          _this110.y += x.y * rx;
          _this110.z += x.z * rx;
          _this110.x += y.x * ry;
          _this110.y += y.y * ry;
          _this110.z += y.z * ry;
          var s = 1 / halfRotAng * rotSin;
          rotVec.x *= s;
          rotVec.y *= s;
          rotVec.z *= s;
          rotQ.x = rotVec.x;
          rotQ.y = rotVec.y;
          rotQ.z = rotVec.z;
          rotQ.w = rotCos;
          var x1 = rotQ.x;
          var y1 = rotQ.y;
          var z = rotQ.z;
          var w = rotQ.w;
          var x2 = 2 * x1;
          var y2 = 2 * y1;
          var z2 = 2 * z;
          var xx = x1 * x2;
          var yy = y1 * y2;
          var zz = z * z2;
          var xy = x1 * y2;
          var yz = y1 * z2;
          var xz = x1 * z2;
          var wx = w * x2;
          var wy = w * y2;
          var wz = w * z2;
          rotM.e00 = 1 - yy - zz;
          rotM.e01 = xy - wz;
          rotM.e02 = xz + wy;
          rotM.e10 = xy + wz;
          rotM.e11 = 1 - xx - zz;
          rotM.e12 = yz - wx;
          rotM.e20 = xz - wy;
          rotM.e21 = yz + wx;
          rotM.e22 = 1 - xx - yy;
          var _this111 = this._pool;

          var _this112 = _this111.sizeVec3 == 0 ? new oimo.common.Vec3() : _this111.stackVec3[--_this111.sizeVec3];

          _this112.x += normal.x * radius;
          _this112.y += normal.y * radius;
          _this112.z += normal.z * radius;
          var v = _this112;
          var y3 = v.x * rotM.e10 + v.y * rotM.e11 + v.z * rotM.e12;
          var z1 = v.x * rotM.e20 + v.y * rotM.e21 + v.z * rotM.e22;
          v.x = v.x * rotM.e00 + v.y * rotM.e01 + v.z * rotM.e02;
          v.y = y3;
          v.z = z1;
          v.x += center.x;
          v.y += center.y;
          v.z += center.z;

          if (i >= 1) {
            d.line(prevV, v, color);
          }

          var _this113 = this._pool;

          if (prevV != null) {
            prevV.zero();

            if (_this113.sizeVec3 == _this113.stackVec3.length) {
              var newArray = new Array(_this113.sizeVec3 << 1);
              var _g126 = 0;
              var _g1 = _this113.sizeVec3;

              while (_g126 < _g1) {
                var _i50 = _g126++;

                newArray[_i50] = _this113.stackVec3[_i50];
                _this113.stackVec3[_i50] = null;
              }

              _this113.stackVec3 = newArray;
            }

            _this113.stackVec3[_this113.sizeVec3++] = prevV;
          }

          prevV = v;
          theta += 0.39269908169872375;
        }

        var _this4 = this._pool;

        if (rotVec != null) {
          rotVec.zero();

          if (_this4.sizeVec3 == _this4.stackVec3.length) {
            var _newArray43 = new Array(_this4.sizeVec3 << 1);

            var _g127 = 0;
            var _g128 = _this4.sizeVec3;

            while (_g127 < _g128) {
              var _i51 = _g127++;

              _newArray43[_i51] = _this4.stackVec3[_i51];
              _this4.stackVec3[_i51] = null;
            }

            _this4.stackVec3 = _newArray43;
          }

          _this4.stackVec3[_this4.sizeVec3++] = rotVec;
        }

        var _this5 = this._pool;

        if (rotQ != null) {
          rotQ.x = 0;
          rotQ.y = 0;
          rotQ.z = 0;
          rotQ.w = 1;

          if (_this5.sizeQuat == _this5.stackQuat.length) {
            var _newArray44 = new Array(_this5.sizeQuat << 1);

            var _g129 = 0;
            var _g130 = _this5.sizeQuat;

            while (_g129 < _g130) {
              var _i52 = _g129++;

              _newArray44[_i52] = _this5.stackQuat[_i52];
              _this5.stackQuat[_i52] = null;
            }

            _this5.stackQuat = _newArray44;
          }

          _this5.stackQuat[_this5.sizeQuat++] = rotQ;
        }

        var _this6 = this._pool;

        if (rotM != null) {
          rotM.e00 = 1;
          rotM.e01 = 0;
          rotM.e02 = 0;
          rotM.e10 = 0;
          rotM.e11 = 1;
          rotM.e12 = 0;
          rotM.e20 = 0;
          rotM.e21 = 0;
          rotM.e22 = 1;

          if (_this6.sizeMat3 == _this6.stackMat3.length) {
            var _newArray45 = new Array(_this6.sizeMat3 << 1);

            var _g131 = 0;
            var _g132 = _this6.sizeMat3;

            while (_g131 < _g132) {
              var _i53 = _g131++;

              _newArray45[_i53] = _this6.stackMat3[_i53];
              _this6.stackMat3[_i53] = null;
            }

            _this6.stackMat3 = _newArray45;
          }

          _this6.stackMat3[_this6.sizeMat3++] = rotM;
        }

        var _this7 = this._pool;

        if (prevV != null) {
          prevV.zero();

          if (_this7.sizeVec3 == _this7.stackVec3.length) {
            var _newArray46 = new Array(_this7.sizeVec3 << 1);

            var _g133 = 0;
            var _g134 = _this7.sizeVec3;

            while (_g133 < _g134) {
              var _i54 = _g133++;

              _newArray46[_i54] = _this7.stackVec3[_i54];
              _this7.stackVec3[_i54] = null;
            }

            _this7.stackVec3 = _newArray46;
          }

          _this7.stackVec3[_this7.sizeVec3++] = prevV;
        }
      }
    }, {
      key: "step",
      value: function step(timeStep) {
        if (this._timeStep.dt > 0) {
          this._timeStep.dtRatio = timeStep / this._timeStep.dt;
        }

        this._timeStep.dt = timeStep;
        this._timeStep.invDt = 1 / timeStep;
        var st = Date.now() / 1000;

        this._updateContacts();

        this._solveIslands();

        oimo.dynamics.common.Performance.totalTime = (Date.now() / 1000 - st) * 1000;
      }
    }, {
      key: "addRigidBody",
      value: function addRigidBody(rigidBody) {
        if (rigidBody._world != null) {
          throw new Error("A rigid body cannot belong to multiple worlds.");
        }

        if (this._rigidBodyList == null) {
          this._rigidBodyList = rigidBody;
          this._rigidBodyListLast = rigidBody;
        } else {
          this._rigidBodyListLast._next = rigidBody;
          rigidBody._prev = this._rigidBodyListLast;
          this._rigidBodyListLast = rigidBody;
        }

        rigidBody._world = this;
        var s = rigidBody._shapeList;

        while (s != null) {
          var n = s._next;
          s._proxy = this._broadPhase.createProxy(s, s._aabb);
          s._id = this._shapeIdCount++;
          this._numShapes++;
          s = n;
        }

        this._numRigidBodies++;
      }
    }, {
      key: "removeRigidBody",
      value: function removeRigidBody(rigidBody) {
        if (rigidBody._world != this) {
          throw new Error("The rigid body doesn't belong to the world.");
        }

        var prev = rigidBody._prev;
        var next = rigidBody._next;

        if (prev != null) {
          prev._next = next;
        }

        if (next != null) {
          next._prev = prev;
        }

        if (rigidBody == this._rigidBodyList) {
          this._rigidBodyList = this._rigidBodyList._next;
        }

        if (rigidBody == this._rigidBodyListLast) {
          this._rigidBodyListLast = this._rigidBodyListLast._prev;
        }

        rigidBody._next = null;
        rigidBody._prev = null;
        rigidBody._world = null;
        var s = rigidBody._shapeList;

        while (s != null) {
          var n = s._next;

          this._broadPhase.destroyProxy(s._proxy);

          s._proxy = null;
          s._id = -1;
          var cl = s._rigidBody._contactLinkList;

          while (cl != null) {
            var _n6 = cl._next;
            var c = cl._contact;

            if (c._s1 == s || c._s2 == s) {
              var _this = cl._other;
              _this._sleeping = false;
              _this._sleepTime = 0;
              var _this1 = this._contactManager;
              var _prev4 = c._prev;
              var _next4 = c._next;

              if (_prev4 != null) {
                _prev4._next = _next4;
              }

              if (_next4 != null) {
                _next4._prev = _prev4;
              }

              if (c == _this1._contactList) {
                _this1._contactList = _this1._contactList._next;
              }

              if (c == _this1._contactListLast) {
                _this1._contactListLast = _this1._contactListLast._prev;
              }

              c._next = null;
              c._prev = null;

              if (c._touching) {
                var cc1 = c._s1._contactCallback;
                var cc2 = c._s2._contactCallback;

                if (cc1 == cc2) {
                  cc2 = null;
                }

                if (cc1 != null) {
                  cc1.endContact(c);
                }

                if (cc2 != null) {
                  cc2.endContact(c);
                }
              }

              var prev1 = c._link1._prev;
              var next1 = c._link1._next;

              if (prev1 != null) {
                prev1._next = next1;
              }

              if (next1 != null) {
                next1._prev = prev1;
              }

              if (c._link1 == c._b1._contactLinkList) {
                c._b1._contactLinkList = c._b1._contactLinkList._next;
              }

              if (c._link1 == c._b1._contactLinkListLast) {
                c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
              }

              c._link1._next = null;
              c._link1._prev = null;
              var prev2 = c._link2._prev;
              var next2 = c._link2._next;

              if (prev2 != null) {
                prev2._next = next2;
              }

              if (next2 != null) {
                next2._prev = prev2;
              }

              if (c._link2 == c._b2._contactLinkList) {
                c._b2._contactLinkList = c._b2._contactLinkList._next;
              }

              if (c._link2 == c._b2._contactLinkListLast) {
                c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
              }

              c._link2._next = null;
              c._link2._prev = null;
              c._b1._numContactLinks--;
              c._b2._numContactLinks--;
              c._link1._other = null;
              c._link2._other = null;
              c._link1._contact = null;
              c._link2._contact = null;
              c._s1 = null;
              c._s2 = null;
              c._b1 = null;
              c._b2 = null;
              c._touching = false;

              c._cachedDetectorData._clear();

              c._manifold._clear();

              c._detector = null;
              var _this2 = c._contactConstraint;
              _this2._s1 = null;
              _this2._s2 = null;
              _this2._b1 = null;
              _this2._b2 = null;
              _this2._tf1 = null;
              _this2._tf2 = null;
              c._next = _this1._contactPool;
              _this1._contactPool = c;
              _this1._numContacts--;
            }

            cl = _n6;
          }

          this._numShapes--;
          s = n;
        }

        this._numRigidBodies--;
      }
    }, {
      key: "addJoint",
      value: function addJoint(joint) {
        if (joint._world != null) {
          throw new Error("A joint cannot belong to multiple worlds.");
        }

        if (this._jointList == null) {
          this._jointList = joint;
          this._jointListLast = joint;
        } else {
          this._jointListLast._next = joint;
          joint._prev = this._jointListLast;
          this._jointListLast = joint;
        }

        joint._world = this;
        joint._link1._other = joint._b2;
        joint._link2._other = joint._b1;

        if (joint._b1._jointLinkList == null) {
          joint._b1._jointLinkList = joint._link1;
          joint._b1._jointLinkListLast = joint._link1;
        } else {
          joint._b1._jointLinkListLast._next = joint._link1;
          joint._link1._prev = joint._b1._jointLinkListLast;
          joint._b1._jointLinkListLast = joint._link1;
        }

        if (joint._b2._jointLinkList == null) {
          joint._b2._jointLinkList = joint._link2;
          joint._b2._jointLinkListLast = joint._link2;
        } else {
          joint._b2._jointLinkListLast._next = joint._link2;
          joint._link2._prev = joint._b2._jointLinkListLast;
          joint._b2._jointLinkListLast = joint._link2;
        }

        joint._b1._numJointLinks++;
        joint._b2._numJointLinks++;
        var _this = joint._b1;
        _this._sleeping = false;
        _this._sleepTime = 0;
        var _this1 = joint._b2;
        _this1._sleeping = false;
        _this1._sleepTime = 0;

        joint._syncAnchors();

        this._numJoints++;
      }
    }, {
      key: "removeJoint",
      value: function removeJoint(joint) {
        if (joint._world != this) {
          throw new Error("The joint doesn't belong to the world.");
        }

        var prev = joint._prev;
        var next = joint._next;

        if (prev != null) {
          prev._next = next;
        }

        if (next != null) {
          next._prev = prev;
        }

        if (joint == this._jointList) {
          this._jointList = this._jointList._next;
        }

        if (joint == this._jointListLast) {
          this._jointListLast = this._jointListLast._prev;
        }

        joint._next = null;
        joint._prev = null;
        joint._world = null;
        var prev1 = joint._link1._prev;
        var next1 = joint._link1._next;

        if (prev1 != null) {
          prev1._next = next1;
        }

        if (next1 != null) {
          next1._prev = prev1;
        }

        if (joint._link1 == joint._b1._jointLinkList) {
          joint._b1._jointLinkList = joint._b1._jointLinkList._next;
        }

        if (joint._link1 == joint._b1._jointLinkListLast) {
          joint._b1._jointLinkListLast = joint._b1._jointLinkListLast._prev;
        }

        joint._link1._next = null;
        joint._link1._prev = null;
        var prev2 = joint._link2._prev;
        var next2 = joint._link2._next;

        if (prev2 != null) {
          prev2._next = next2;
        }

        if (next2 != null) {
          next2._prev = prev2;
        }

        if (joint._link2 == joint._b2._jointLinkList) {
          joint._b2._jointLinkList = joint._b2._jointLinkList._next;
        }

        if (joint._link2 == joint._b2._jointLinkListLast) {
          joint._b2._jointLinkListLast = joint._b2._jointLinkListLast._prev;
        }

        joint._link2._next = null;
        joint._link2._prev = null;
        joint._link1._other = null;
        joint._link2._other = null;
        joint._b1._numJointLinks--;
        joint._b2._numJointLinks--;
        var _this = joint._b1;
        _this._sleeping = false;
        _this._sleepTime = 0;
        var _this1 = joint._b2;
        _this1._sleeping = false;
        _this1._sleepTime = 0;
        this._numJoints--;
      }
    }, {
      key: "setDebugDraw",
      value: function setDebugDraw(debugDraw) {
        this._debugDraw = debugDraw;
      }
    }, {
      key: "getDebugDraw",
      value: function getDebugDraw() {
        return this._debugDraw;
      }
    }, {
      key: "debugDraw",
      value: function debugDraw() {
        if (this._debugDraw != null) {
          if (this._broadPhase._type == 2) {
            this._drawBvh(this._debugDraw, this._broadPhase._tree);
          }

          this._drawRigidBodies(this._debugDraw);

          this._drawConstraints(this._debugDraw);
        }
      }
    }, {
      key: "rayCast",
      value: function rayCast(begin, end, callback) {
        var _this = this._rayCastWrapper.begin;
        _this.x = begin.x;
        _this.y = begin.y;
        _this.z = begin.z;
        var _this1 = this._rayCastWrapper.end;
        _this1.x = end.x;
        _this1.y = end.y;
        _this1.z = end.z;
        this._rayCastWrapper.callback = callback;

        this._broadPhase.rayCast(begin, end, this._rayCastWrapper);
      }
    }, {
      key: "convexCast",
      value: function convexCast(convex, begin, translation, callback) {
        this._convexCastWrapper.convex = convex;
        var _this = this._convexCastWrapper.begin;
        _this._positionX = begin._positionX;
        _this._positionY = begin._positionY;
        _this._positionZ = begin._positionZ;
        _this._rotation00 = begin._rotation00;
        _this._rotation01 = begin._rotation01;
        _this._rotation02 = begin._rotation02;
        _this._rotation10 = begin._rotation10;
        _this._rotation11 = begin._rotation11;
        _this._rotation12 = begin._rotation12;
        _this._rotation20 = begin._rotation20;
        _this._rotation21 = begin._rotation21;
        _this._rotation22 = begin._rotation22;
        var _this1 = this._convexCastWrapper.translation;
        _this1.x = translation.x;
        _this1.y = translation.y;
        _this1.z = translation.z;
        this._convexCastWrapper.callback = callback;

        this._broadPhase.convexCast(convex, begin, translation, this._convexCastWrapper);
      }
    }, {
      key: "aabbTest",
      value: function aabbTest(aabb, callback) {
        this._aabbTestWrapper._aabb.copyFrom(aabb);

        this._aabbTestWrapper._callback = callback;

        this._broadPhase.aabbTest(aabb, this._aabbTestWrapper);
      }
    }, {
      key: "getRigidBodyList",
      value: function getRigidBodyList() {
        return this._rigidBodyList;
      }
    }, {
      key: "getJointList",
      value: function getJointList() {
        return this._jointList;
      }
    }, {
      key: "getBroadPhase",
      value: function getBroadPhase() {
        return this._broadPhase;
      }
    }, {
      key: "getContactManager",
      value: function getContactManager() {
        return this._contactManager;
      }
    }, {
      key: "getNumRigidBodies",
      value: function getNumRigidBodies() {
        return this._numRigidBodies;
      }
    }, {
      key: "getNumJoints",
      value: function getNumJoints() {
        return this._numJoints;
      }
    }, {
      key: "getNumShapes",
      value: function getNumShapes() {
        return this._numShapes;
      }
    }, {
      key: "getNumIslands",
      value: function getNumIslands() {
        return this._numIslands;
      }
    }, {
      key: "getNumVelocityIterations",
      value: function getNumVelocityIterations() {
        return this._numVelocityIterations;
      }
    }, {
      key: "setNumVelocityIterations",
      value: function setNumVelocityIterations(numVelocityIterations) {
        this._numVelocityIterations = numVelocityIterations;
      }
    }, {
      key: "getNumPositionIterations",
      value: function getNumPositionIterations() {
        return this._numPositionIterations;
      }
    }, {
      key: "setNumPositionIterations",
      value: function setNumPositionIterations(numPositionIterations) {
        this._numPositionIterations = numPositionIterations;
      }
    }, {
      key: "getGravity",
      value: function getGravity() {
        return this._gravity;
      }
    }, {
      key: "setGravity",
      value: function setGravity(gravity) {
        var _this = this._gravity;
        _this.x = gravity.x;
        _this.y = gravity.y;
        _this.z = gravity.z;
      }
    }]);

    return oimo_dynamics_World;
  }();

  if (!oimo.dynamics._World) oimo.dynamics._World = {};

  oimo.dynamics._World.RayCastWrapper = /*#__PURE__*/function (_oimo$collision$broad4) {
    _inherits(oimo_dynamics__$World_RayCastWrapper, _oimo$collision$broad4);

    var _super19 = _createSuper(oimo_dynamics__$World_RayCastWrapper);

    function oimo_dynamics__$World_RayCastWrapper() {
      var _this114;

      _classCallCheck(this, oimo_dynamics__$World_RayCastWrapper);

      _this114 = _super19.call(this);
      _this114.rayCastHit = new oimo.collision.geometry.RayCastHit();
      _this114.begin = new oimo.common.Vec3();
      _this114.end = new oimo.common.Vec3();
      _this114.callback = null;
      return _this114;
    }

    _createClass(oimo_dynamics__$World_RayCastWrapper, [{
      key: "process",
      value: function process(proxy) {
        var shape = proxy.userData;

        if (shape._geom.rayCast(this.begin, this.end, shape._transform, this.rayCastHit)) {
          this.callback.process(shape, this.rayCastHit);
        }
      }
    }]);

    return oimo_dynamics__$World_RayCastWrapper;
  }(oimo.collision.broadphase.BroadPhaseProxyCallback);

  oimo.dynamics._World.ConvexCastWrapper = /*#__PURE__*/function (_oimo$collision$broad5) {
    _inherits(oimo_dynamics__$World_ConvexCastWrapper, _oimo$collision$broad5);

    var _super20 = _createSuper(oimo_dynamics__$World_ConvexCastWrapper);

    function oimo_dynamics__$World_ConvexCastWrapper() {
      var _this115;

      _classCallCheck(this, oimo_dynamics__$World_ConvexCastWrapper);

      _this115 = _super20.call(this);
      _this115.rayCastHit = new oimo.collision.geometry.RayCastHit();
      _this115.begin = new oimo.common.Transform();
      _this115.translation = new oimo.common.Vec3();
      _this115.zero = new oimo.common.Vec3();
      _this115.callback = null;
      _this115.convex = null;
      return _this115;
    }

    _createClass(oimo_dynamics__$World_ConvexCastWrapper, [{
      key: "process",
      value: function process(proxy) {
        var shape = proxy.userData;
        var type = shape._geom._type;

        if (type < 0 || type > 5) {
          return;
        }

        if (oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance.convexCast(this.convex, shape._geom, this.begin, shape._transform, this.translation, this.zero, this.rayCastHit)) {
          this.callback.process(shape, this.rayCastHit);
        }
      }
    }]);

    return oimo_dynamics__$World_ConvexCastWrapper;
  }(oimo.collision.broadphase.BroadPhaseProxyCallback);

  oimo.dynamics._World.AabbTestWrapper = /*#__PURE__*/function (_oimo$collision$broad6) {
    _inherits(oimo_dynamics__$World_AabbTestWrapper, _oimo$collision$broad6);

    var _super21 = _createSuper(oimo_dynamics__$World_AabbTestWrapper);

    function oimo_dynamics__$World_AabbTestWrapper() {
      var _this116;

      _classCallCheck(this, oimo_dynamics__$World_AabbTestWrapper);

      _this116 = _super21.call(this);
      _this116._aabb = new oimo.collision.geometry.Aabb();
      _this116._callback = null;
      return _this116;
    }

    _createClass(oimo_dynamics__$World_AabbTestWrapper, [{
      key: "process",
      value: function process(proxy) {
        var shape = proxy.userData;
        var shapeAabb = shape._aabb;

        if (shapeAabb._minX < this._aabb._maxX && shapeAabb._maxX > this._aabb._minX && shapeAabb._minY < this._aabb._maxY && shapeAabb._maxY > this._aabb._minY && shapeAabb._minZ < this._aabb._maxZ && shapeAabb._maxZ > this._aabb._minZ) {
          this._callback.process(shape);
        }
      }
    }]);

    return oimo_dynamics__$World_AabbTestWrapper;
  }(oimo.collision.broadphase.BroadPhaseProxyCallback);

  if (!oimo.dynamics.callback) oimo.dynamics.callback = {};

  oimo.dynamics.callback.AabbTestCallback = /*#__PURE__*/function () {
    function oimo_dynamics_callback_AabbTestCallback() {
      _classCallCheck(this, oimo_dynamics_callback_AabbTestCallback);
    }

    _createClass(oimo_dynamics_callback_AabbTestCallback, [{
      key: "process",
      value: function process(shape) {}
    }]);

    return oimo_dynamics_callback_AabbTestCallback;
  }();

  oimo.dynamics.callback.ContactCallback = /*#__PURE__*/function () {
    function oimo_dynamics_callback_ContactCallback() {
      _classCallCheck(this, oimo_dynamics_callback_ContactCallback);
    }

    _createClass(oimo_dynamics_callback_ContactCallback, [{
      key: "beginContact",
      value: function beginContact(c) {}
    }, {
      key: "preSolve",
      value: function preSolve(c) {}
    }, {
      key: "postSolve",
      value: function postSolve(c) {}
    }, {
      key: "endContact",
      value: function endContact(c) {}
    }]);

    return oimo_dynamics_callback_ContactCallback;
  }();

  oimo.dynamics.callback.RayCastCallback = /*#__PURE__*/function () {
    function oimo_dynamics_callback_RayCastCallback() {
      _classCallCheck(this, oimo_dynamics_callback_RayCastCallback);
    }

    _createClass(oimo_dynamics_callback_RayCastCallback, [{
      key: "process",
      value: function process(shape, hit) {}
    }]);

    return oimo_dynamics_callback_RayCastCallback;
  }();

  oimo.dynamics.callback.RayCastClosest = /*#__PURE__*/function (_oimo$dynamics$callba) {
    _inherits(oimo_dynamics_callback_RayCastClosest, _oimo$dynamics$callba);

    var _super22 = _createSuper(oimo_dynamics_callback_RayCastClosest);

    function oimo_dynamics_callback_RayCastClosest() {
      var _this117;

      _classCallCheck(this, oimo_dynamics_callback_RayCastClosest);

      _this117 = _super22.call(this);
      _this117.position = new oimo.common.Vec3();
      _this117.normal = new oimo.common.Vec3();
      _this117.shape = null;
      _this117.fraction = 1;

      _this117.position.zero();

      _this117.normal.zero();

      _this117.hit = false;
      return _this117;
    }

    _createClass(oimo_dynamics_callback_RayCastClosest, [{
      key: "clear",
      value: function clear() {
        this.shape = null;
        this.fraction = 1;
        this.position.zero();
        this.normal.zero();
        this.hit = false;
      }
    }, {
      key: "process",
      value: function process(shape, hit) {
        if (hit.fraction < this.fraction) {
          this.shape = shape;
          this.hit = true;
          this.fraction = hit.fraction;
          var _this = this.position;
          var v = hit.position;
          _this.x = v.x;
          _this.y = v.y;
          _this.z = v.z;
          var _this1 = this.normal;
          var v1 = hit.normal;
          _this1.x = v1.x;
          _this1.y = v1.y;
          _this1.z = v1.z;
        }
      }
    }]);

    return oimo_dynamics_callback_RayCastClosest;
  }(oimo.dynamics.callback.RayCastCallback);

  if (!oimo.dynamics.common) oimo.dynamics.common = {};

  oimo.dynamics.common.DebugDraw = /*#__PURE__*/function () {
    function oimo_dynamics_common_DebugDraw() {
      _classCallCheck(this, oimo_dynamics_common_DebugDraw);

      this.p = new oimo.common.Pool();
      this.wireframe = false;
      this.drawShapes = true;
      this.drawBvh = false;
      this.drawBvhMinLevel = 0;
      this.drawBvhMaxLevel = 65536;
      this.drawAabbs = false;
      this.drawBases = false;
      this.drawPairs = false;
      this.drawContacts = false;
      this.drawJoints = true;
      this.drawJointLimits = false;
      this.sphereCoords = new Array(5);
      this.tmpSphereVerts = new Array(5);
      this.tmpSphereNorms = new Array(5);
      var _g = 0;

      while (_g < 5) {
        var i = _g++;
        var num = i == 0 || i == 4 ? 1 : 8;
        this.sphereCoords[i] = new Array(num);
        this.tmpSphereVerts[i] = new Array(num);
        this.tmpSphereNorms[i] = new Array(num);
        var _g135 = 0;

        while (_g135 < 8) {
          var j = _g135++;
          var theta = i * 0.7853981633974475;
          var phi = j * 0.7853981633974475;
          this.sphereCoords[i][j] = new oimo.common.Vec3(Math.sin(theta) * Math.cos(phi), Math.cos(theta), -Math.sin(theta) * Math.sin(phi));
          this.tmpSphereVerts[i][j] = new oimo.common.Vec3();
          this.tmpSphereNorms[i][j] = new oimo.common.Vec3();
        }
      }

      this.circleCoords = new Array(8);
      this.circleCoordsShift = new Array(8);
      this.tmpCircleVerts1 = new Array(8);
      this.tmpCircleVerts2 = new Array(8);
      this.tmpCircleNorms = new Array(8);
      var _g1 = 0;

      while (_g1 < 8) {
        var _i55 = _g1++;

        this.circleCoords[_i55] = new oimo.common.Vec3(Math.cos(_i55 * 0.7853981633974475), 0, -Math.sin(_i55 * 0.7853981633974475));
        this.circleCoordsShift[_i55] = new oimo.common.Vec3(Math.cos((_i55 + 0.5) * 0.7853981633974475), 0, -Math.sin((_i55 + 0.5) * 0.7853981633974475));
        this.tmpCircleVerts1[_i55] = new oimo.common.Vec3();
        this.tmpCircleVerts2[_i55] = new oimo.common.Vec3();
        this.tmpCircleNorms[_i55] = new oimo.common.Vec3();
      }

      this.style = new oimo.dynamics.common.DebugDrawStyle();
    }

    _createClass(oimo_dynamics_common_DebugDraw, [{
      key: "aabb",
      value: function aabb(min, max, color) {
        var _this = this.p;
        var v1 = (_this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3]).init(min.x, min.y, min.z);
        var _this1 = this.p;
        var v2 = (_this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3]).init(min.x, min.y, max.z);
        var _this2 = this.p;
        var v3 = (_this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3]).init(min.x, max.y, min.z);
        var _this3 = this.p;
        var v4 = (_this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3]).init(min.x, max.y, max.z);
        var _this4 = this.p;
        var v5 = (_this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3]).init(max.x, min.y, min.z);
        var _this5 = this.p;
        var v6 = (_this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3]).init(max.x, min.y, max.z);
        var _this6 = this.p;
        var v7 = (_this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3]).init(max.x, max.y, min.z);
        var _this7 = this.p;
        var v8 = (_this7.sizeVec3 == 0 ? new oimo.common.Vec3() : _this7.stackVec3[--_this7.sizeVec3]).init(max.x, max.y, max.z);
        this.line(v1, v2, color);
        this.line(v3, v4, color);
        this.line(v5, v6, color);
        this.line(v7, v8, color);
        this.line(v1, v3, color);
        this.line(v2, v4, color);
        this.line(v5, v7, color);
        this.line(v6, v8, color);
        this.line(v1, v5, color);
        this.line(v2, v6, color);
        this.line(v3, v7, color);
        this.line(v4, v8, color);
        var _this8 = this.p;

        if (v1 != null) {
          v1.zero();

          if (_this8.sizeVec3 == _this8.stackVec3.length) {
            var newArray = new Array(_this8.sizeVec3 << 1);
            var _g = 0;
            var _g1 = _this8.sizeVec3;

            while (_g < _g1) {
              var i = _g++;
              newArray[i] = _this8.stackVec3[i];
              _this8.stackVec3[i] = null;
            }

            _this8.stackVec3 = newArray;
          }

          _this8.stackVec3[_this8.sizeVec3++] = v1;
        }

        var _this9 = this.p;

        if (v2 != null) {
          v2.zero();

          if (_this9.sizeVec3 == _this9.stackVec3.length) {
            var _newArray47 = new Array(_this9.sizeVec3 << 1);

            var _g136 = 0;
            var _g137 = _this9.sizeVec3;

            while (_g136 < _g137) {
              var _i56 = _g136++;

              _newArray47[_i56] = _this9.stackVec3[_i56];
              _this9.stackVec3[_i56] = null;
            }

            _this9.stackVec3 = _newArray47;
          }

          _this9.stackVec3[_this9.sizeVec3++] = v2;
        }

        var _this10 = this.p;

        if (v3 != null) {
          v3.zero();

          if (_this10.sizeVec3 == _this10.stackVec3.length) {
            var _newArray48 = new Array(_this10.sizeVec3 << 1);

            var _g138 = 0;
            var _g139 = _this10.sizeVec3;

            while (_g138 < _g139) {
              var _i57 = _g138++;

              _newArray48[_i57] = _this10.stackVec3[_i57];
              _this10.stackVec3[_i57] = null;
            }

            _this10.stackVec3 = _newArray48;
          }

          _this10.stackVec3[_this10.sizeVec3++] = v3;
        }

        var _this11 = this.p;

        if (v4 != null) {
          v4.zero();

          if (_this11.sizeVec3 == _this11.stackVec3.length) {
            var _newArray49 = new Array(_this11.sizeVec3 << 1);

            var _g140 = 0;
            var _g141 = _this11.sizeVec3;

            while (_g140 < _g141) {
              var _i58 = _g140++;

              _newArray49[_i58] = _this11.stackVec3[_i58];
              _this11.stackVec3[_i58] = null;
            }

            _this11.stackVec3 = _newArray49;
          }

          _this11.stackVec3[_this11.sizeVec3++] = v4;
        }

        var _this12 = this.p;

        if (v5 != null) {
          v5.zero();

          if (_this12.sizeVec3 == _this12.stackVec3.length) {
            var _newArray50 = new Array(_this12.sizeVec3 << 1);

            var _g142 = 0;
            var _g143 = _this12.sizeVec3;

            while (_g142 < _g143) {
              var _i59 = _g142++;

              _newArray50[_i59] = _this12.stackVec3[_i59];
              _this12.stackVec3[_i59] = null;
            }

            _this12.stackVec3 = _newArray50;
          }

          _this12.stackVec3[_this12.sizeVec3++] = v5;
        }

        var _this13 = this.p;

        if (v6 != null) {
          v6.zero();

          if (_this13.sizeVec3 == _this13.stackVec3.length) {
            var _newArray51 = new Array(_this13.sizeVec3 << 1);

            var _g144 = 0;
            var _g145 = _this13.sizeVec3;

            while (_g144 < _g145) {
              var _i60 = _g144++;

              _newArray51[_i60] = _this13.stackVec3[_i60];
              _this13.stackVec3[_i60] = null;
            }

            _this13.stackVec3 = _newArray51;
          }

          _this13.stackVec3[_this13.sizeVec3++] = v6;
        }

        var _this14 = this.p;

        if (v7 != null) {
          v7.zero();

          if (_this14.sizeVec3 == _this14.stackVec3.length) {
            var _newArray52 = new Array(_this14.sizeVec3 << 1);

            var _g146 = 0;
            var _g147 = _this14.sizeVec3;

            while (_g146 < _g147) {
              var _i61 = _g146++;

              _newArray52[_i61] = _this14.stackVec3[_i61];
              _this14.stackVec3[_i61] = null;
            }

            _this14.stackVec3 = _newArray52;
          }

          _this14.stackVec3[_this14.sizeVec3++] = v7;
        }

        var _this15 = this.p;

        if (v8 != null) {
          v8.zero();

          if (_this15.sizeVec3 == _this15.stackVec3.length) {
            var _newArray53 = new Array(_this15.sizeVec3 << 1);

            var _g148 = 0;
            var _g149 = _this15.sizeVec3;

            while (_g148 < _g149) {
              var _i62 = _g148++;

              _newArray53[_i62] = _this15.stackVec3[_i62];
              _this15.stackVec3[_i62] = null;
            }

            _this15.stackVec3 = _newArray53;
          }

          _this15.stackVec3[_this15.sizeVec3++] = v8;
        }
      }
    }, {
      key: "basis",
      value: function basis(transform, length, colorX, colorY, colorZ) {
        var _this = this.p;
        var pos = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
        var _this1 = this.p;
        var rot = _this1.sizeMat3 == 0 ? new oimo.common.Mat3() : _this1.stackMat3[--_this1.sizeMat3];
        var _this2 = this.p;
        var ex = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
        var _this3 = this.p;
        var ey = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
        var _this4 = this.p;
        var ez = _this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3];
        var v = pos;
        v.x = transform._positionX;
        v.y = transform._positionY;
        v.z = transform._positionZ;
        var m = rot;
        m.e00 = transform._rotation00;
        m.e01 = transform._rotation01;
        m.e02 = transform._rotation02;
        m.e10 = transform._rotation10;
        m.e11 = transform._rotation11;
        m.e12 = transform._rotation12;
        m.e20 = transform._rotation20;
        m.e21 = transform._rotation21;
        m.e22 = transform._rotation22;
        ex.init(rot.e00, rot.e10, rot.e20);
        ey.init(rot.e01, rot.e11, rot.e21);
        ez.init(rot.e02, rot.e12, rot.e22);
        ex.x *= length;
        ex.y *= length;
        ex.z *= length;
        var _this5 = ex;
        _this5.x += pos.x;
        _this5.y += pos.y;
        _this5.z += pos.z;
        ey.x *= length;
        ey.y *= length;
        ey.z *= length;
        var _this6 = ey;
        _this6.x += pos.x;
        _this6.y += pos.y;
        _this6.z += pos.z;
        ez.x *= length;
        ez.y *= length;
        ez.z *= length;
        var _this7 = ez;
        _this7.x += pos.x;
        _this7.y += pos.y;
        _this7.z += pos.z;
        this.line(pos, ex, colorX);
        this.line(pos, ey, colorY);
        this.line(pos, ez, colorZ);
        var _this8 = this.p;

        if (pos != null) {
          pos.zero();

          if (_this8.sizeVec3 == _this8.stackVec3.length) {
            var newArray = new Array(_this8.sizeVec3 << 1);
            var _g = 0;
            var _g1 = _this8.sizeVec3;

            while (_g < _g1) {
              var i = _g++;
              newArray[i] = _this8.stackVec3[i];
              _this8.stackVec3[i] = null;
            }

            _this8.stackVec3 = newArray;
          }

          _this8.stackVec3[_this8.sizeVec3++] = pos;
        }

        var _this9 = this.p;

        if (rot != null) {
          rot.e00 = 1;
          rot.e01 = 0;
          rot.e02 = 0;
          rot.e10 = 0;
          rot.e11 = 1;
          rot.e12 = 0;
          rot.e20 = 0;
          rot.e21 = 0;
          rot.e22 = 1;

          if (_this9.sizeMat3 == _this9.stackMat3.length) {
            var _newArray54 = new Array(_this9.sizeMat3 << 1);

            var _g150 = 0;
            var _g151 = _this9.sizeMat3;

            while (_g150 < _g151) {
              var _i63 = _g150++;

              _newArray54[_i63] = _this9.stackMat3[_i63];
              _this9.stackMat3[_i63] = null;
            }

            _this9.stackMat3 = _newArray54;
          }

          _this9.stackMat3[_this9.sizeMat3++] = rot;
        }

        var _this10 = this.p;

        if (ex != null) {
          ex.zero();

          if (_this10.sizeVec3 == _this10.stackVec3.length) {
            var _newArray55 = new Array(_this10.sizeVec3 << 1);

            var _g152 = 0;
            var _g153 = _this10.sizeVec3;

            while (_g152 < _g153) {
              var _i64 = _g152++;

              _newArray55[_i64] = _this10.stackVec3[_i64];
              _this10.stackVec3[_i64] = null;
            }

            _this10.stackVec3 = _newArray55;
          }

          _this10.stackVec3[_this10.sizeVec3++] = ex;
        }

        var _this11 = this.p;

        if (ey != null) {
          ey.zero();

          if (_this11.sizeVec3 == _this11.stackVec3.length) {
            var _newArray56 = new Array(_this11.sizeVec3 << 1);

            var _g154 = 0;
            var _g155 = _this11.sizeVec3;

            while (_g154 < _g155) {
              var _i65 = _g154++;

              _newArray56[_i65] = _this11.stackVec3[_i65];
              _this11.stackVec3[_i65] = null;
            }

            _this11.stackVec3 = _newArray56;
          }

          _this11.stackVec3[_this11.sizeVec3++] = ey;
        }

        var _this12 = this.p;

        if (ez != null) {
          ez.zero();

          if (_this12.sizeVec3 == _this12.stackVec3.length) {
            var _newArray57 = new Array(_this12.sizeVec3 << 1);

            var _g156 = 0;
            var _g157 = _this12.sizeVec3;

            while (_g156 < _g157) {
              var _i66 = _g156++;

              _newArray57[_i66] = _this12.stackVec3[_i66];
              _this12.stackVec3[_i66] = null;
            }

            _this12.stackVec3 = _newArray57;
          }

          _this12.stackVec3[_this12.sizeVec3++] = ez;
        }
      }
    }, {
      key: "ellipse",
      value: function ellipse(center, ex, ey, radiusX, radiusY, color) {
        this.arc(center, ex, ey, radiusX, radiusY, 0, 6.28318530717958, false, color);
      }
    }, {
      key: "arc",
      value: function arc(center, ex, ey, radiusX, radiusY, startAngle, endAngle, drawSector, color) {
        var _this = this.p;

        var _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];

        _this1.x = ex.x;
        _this1.y = ex.y;
        _this1.z = ex.z;
        var _this2 = _this1;
        _this2.x *= radiusX;
        _this2.y *= radiusX;
        _this2.z *= radiusX;
        var _this3 = this.p;

        var _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];

        _this4.x = ey.x;
        _this4.y = ey.y;
        _this4.z = ey.z;
        var _this5 = _this4;
        _this5.x *= radiusY;
        _this5.y *= radiusY;
        _this5.z *= radiusY;
        var angDiff = endAngle - startAngle;

        if (angDiff < 0) {
          angDiff = -angDiff;
        }

        var n = angDiff / 0.52359877559829837 + 0.5 | 0;

        if (n == 0) {
          n = 1;
        }

        var theta = startAngle;
        var dt = (endAngle - startAngle) / n;
        var _this6 = this.p;

        var _this7 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];

        _this7.x = center.x;
        _this7.y = center.y;
        _this7.z = center.z;
        var _this8 = _this7;
        var s = Math.cos(startAngle);
        _this8.x += _this2.x * s;
        _this8.y += _this2.y * s;
        _this8.z += _this2.z * s;
        var s1 = Math.sin(startAngle);
        _this8.x += _this5.x * s1;
        _this8.y += _this5.y * s1;
        _this8.z += _this5.z * s1;
        var prevV = _this8;

        if (drawSector) {
          this.line(center, _this8, color);
        }

        var _g = 0;
        var _g1 = n;

        while (_g < _g1) {
          ++_g;
          theta += dt;
          var _this118 = this.p;

          var _this119 = _this118.sizeVec3 == 0 ? new oimo.common.Vec3() : _this118.stackVec3[--_this118.sizeVec3];

          _this119.x = center.x;
          _this119.y = center.y;
          _this119.z = center.z;
          var _this120 = _this119;

          var _s8 = Math.cos(theta);

          _this120.x += _this2.x * _s8;
          _this120.y += _this2.y * _s8;
          _this120.z += _this2.z * _s8;

          var _s9 = Math.sin(theta);

          _this120.x += _this5.x * _s9;
          _this120.y += _this5.y * _s9;
          _this120.z += _this5.z * _s9;
          this.line(prevV, _this120, color);
          var _this121 = this.p;

          if (prevV != null) {
            prevV.zero();

            if (_this121.sizeVec3 == _this121.stackVec3.length) {
              var newArray = new Array(_this121.sizeVec3 << 1);
              var _g158 = 0;
              var _g159 = _this121.sizeVec3;

              while (_g158 < _g159) {
                var i = _g158++;
                newArray[i] = _this121.stackVec3[i];
                _this121.stackVec3[i] = null;
              }

              _this121.stackVec3 = newArray;
            }

            _this121.stackVec3[_this121.sizeVec3++] = prevV;
          }

          prevV = _this120;
        }

        if (drawSector) {
          this.line(center, prevV, color);
        }

        var _this9 = this.p;

        if (prevV != null) {
          prevV.zero();

          if (_this9.sizeVec3 == _this9.stackVec3.length) {
            var _newArray58 = new Array(_this9.sizeVec3 << 1);

            var _g160 = 0;
            var _g161 = _this9.sizeVec3;

            while (_g160 < _g161) {
              var _i67 = _g160++;

              _newArray58[_i67] = _this9.stackVec3[_i67];
              _this9.stackVec3[_i67] = null;
            }

            _this9.stackVec3 = _newArray58;
          }

          _this9.stackVec3[_this9.sizeVec3++] = prevV;
        }

        var _this10 = this.p;

        if (_this2 != null) {
          _this2.zero();

          if (_this10.sizeVec3 == _this10.stackVec3.length) {
            var _newArray59 = new Array(_this10.sizeVec3 << 1);

            var _g162 = 0;
            var _g163 = _this10.sizeVec3;

            while (_g162 < _g163) {
              var _i68 = _g162++;

              _newArray59[_i68] = _this10.stackVec3[_i68];
              _this10.stackVec3[_i68] = null;
            }

            _this10.stackVec3 = _newArray59;
          }

          _this10.stackVec3[_this10.sizeVec3++] = _this2;
        }

        var _this11 = this.p;

        if (_this5 != null) {
          _this5.zero();

          if (_this11.sizeVec3 == _this11.stackVec3.length) {
            var _newArray60 = new Array(_this11.sizeVec3 << 1);

            var _g164 = 0;
            var _g165 = _this11.sizeVec3;

            while (_g164 < _g165) {
              var _i69 = _g164++;

              _newArray60[_i69] = _this11.stackVec3[_i69];
              _this11.stackVec3[_i69] = null;
            }

            _this11.stackVec3 = _newArray60;
          }

          _this11.stackVec3[_this11.sizeVec3++] = _this5;
        }
      }
    }, {
      key: "cone",
      value: function cone(tf, radius, halfHeight, color) {
        var _this = this.p;
        var ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
        var _this1 = this.p;
        var ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
        var _this2 = this.p;
        var ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
        var _this3 = this.p;
        var o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
        var _this4 = this.p;
        var m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
        var v = o;
        v.x = tf._positionX;
        v.y = tf._positionY;
        v.z = tf._positionZ;
        var m1 = m;
        m1.e00 = tf._rotation00;
        m1.e01 = tf._rotation01;
        m1.e02 = tf._rotation02;
        m1.e10 = tf._rotation10;
        m1.e11 = tf._rotation11;
        m1.e12 = tf._rotation12;
        m1.e20 = tf._rotation20;
        m1.e21 = tf._rotation21;
        m1.e22 = tf._rotation22;
        ex.init(m.e00, m.e10, m.e20);
        ey.init(m.e01, m.e11, m.e21);
        ez.init(m.e02, m.e12, m.e22);
        var _this5 = this.p;

        var _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];

        _this6.x = o.x;
        _this6.y = o.y;
        _this6.z = o.z;
        var _this7 = _this6;
        _this7.x += ey.x * halfHeight;
        _this7.y += ey.y * halfHeight;
        _this7.z += ey.z * halfHeight;
        var _this8 = this.p;

        var _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];

        _this9.x = o.x;
        _this9.y = o.y;
        _this9.z = o.z;
        var _this10 = _this9;
        var s = -halfHeight;
        _this10.x += ey.x * s;
        _this10.y += ey.y * s;
        _this10.z += ey.z * s;

        if (this.wireframe) {
          var _this122 = this.p;

          var _this123 = _this122.sizeVec3 == 0 ? new oimo.common.Vec3() : _this122.stackVec3[--_this122.sizeVec3];

          _this123.x = _this10.x;
          _this123.y = _this10.y;
          _this123.z = _this10.z;
          var _this124 = _this123;

          var _s10 = -radius;

          _this124.x += ex.x * _s10;
          _this124.y += ex.y * _s10;
          _this124.z += ex.z * _s10;
          _this124.x += ez.x * 0;
          _this124.y += ez.y * 0;
          _this124.z += ez.z * 0;
          var _this125 = this.p;

          var _this126 = _this125.sizeVec3 == 0 ? new oimo.common.Vec3() : _this125.stackVec3[--_this125.sizeVec3];

          _this126.x = _this10.x;
          _this126.y = _this10.y;
          _this126.z = _this10.z;
          var _this127 = _this126;
          _this127.x += ex.x * radius;
          _this127.y += ex.y * radius;
          _this127.z += ex.z * radius;
          _this127.x += ez.x * 0;
          _this127.y += ez.y * 0;
          _this127.z += ez.z * 0;
          var _this128 = this.p;

          var _this129 = _this128.sizeVec3 == 0 ? new oimo.common.Vec3() : _this128.stackVec3[--_this128.sizeVec3];

          _this129.x = _this10.x;
          _this129.y = _this10.y;
          _this129.z = _this10.z;
          var _this130 = _this129;
          _this130.x += ex.x * 0;
          _this130.y += ex.y * 0;
          _this130.z += ex.z * 0;
          var s1 = -radius;
          _this130.x += ez.x * s1;
          _this130.y += ez.y * s1;
          _this130.z += ez.z * s1;
          var _this131 = this.p;

          var _this132 = _this131.sizeVec3 == 0 ? new oimo.common.Vec3() : _this131.stackVec3[--_this131.sizeVec3];

          _this132.x = _this10.x;
          _this132.y = _this10.y;
          _this132.z = _this10.z;
          var _this133 = _this132;
          _this133.x += ex.x * 0;
          _this133.y += ex.y * 0;
          _this133.z += ex.z * 0;
          _this133.x += ez.x * radius;
          _this133.y += ez.y * radius;
          _this133.z += ez.z * radius;
          this.ellipse(_this10, ex, ez, radius, radius, color);
          this.line(_this7, _this124, color);
          this.line(_this7, _this127, color);
          this.line(_this7, _this130, color);
          this.line(_this7, _this133, color);
          var _this134 = this.p;

          if (_this124 != null) {
            _this124.zero();

            if (_this134.sizeVec3 == _this134.stackVec3.length) {
              var newArray = new Array(_this134.sizeVec3 << 1);
              var _g = 0;
              var _g1 = _this134.sizeVec3;

              while (_g < _g1) {
                var i = _g++;
                newArray[i] = _this134.stackVec3[i];
                _this134.stackVec3[i] = null;
              }

              _this134.stackVec3 = newArray;
            }

            _this134.stackVec3[_this134.sizeVec3++] = _this124;
          }

          var _this135 = this.p;

          if (_this127 != null) {
            _this127.zero();

            if (_this135.sizeVec3 == _this135.stackVec3.length) {
              var _newArray61 = new Array(_this135.sizeVec3 << 1);

              var _g166 = 0;
              var _g167 = _this135.sizeVec3;

              while (_g166 < _g167) {
                var _i70 = _g166++;

                _newArray61[_i70] = _this135.stackVec3[_i70];
                _this135.stackVec3[_i70] = null;
              }

              _this135.stackVec3 = _newArray61;
            }

            _this135.stackVec3[_this135.sizeVec3++] = _this127;
          }

          var _this136 = this.p;

          if (_this130 != null) {
            _this130.zero();

            if (_this136.sizeVec3 == _this136.stackVec3.length) {
              var _newArray62 = new Array(_this136.sizeVec3 << 1);

              var _g168 = 0;
              var _g169 = _this136.sizeVec3;

              while (_g168 < _g169) {
                var _i71 = _g168++;

                _newArray62[_i71] = _this136.stackVec3[_i71];
                _this136.stackVec3[_i71] = null;
              }

              _this136.stackVec3 = _newArray62;
            }

            _this136.stackVec3[_this136.sizeVec3++] = _this130;
          }

          var _this137 = this.p;

          if (_this133 != null) {
            _this133.zero();

            if (_this137.sizeVec3 == _this137.stackVec3.length) {
              var _newArray63 = new Array(_this137.sizeVec3 << 1);

              var _g170 = 0;
              var _g171 = _this137.sizeVec3;

              while (_g170 < _g171) {
                var _i72 = _g170++;

                _newArray63[_i72] = _this137.stackVec3[_i72];
                _this137.stackVec3[_i72] = null;
              }

              _this137.stackVec3 = _newArray63;
            }

            _this137.stackVec3[_this137.sizeVec3++] = _this133;
          }
        } else {
          var invDenom = 1 / Math.sqrt(radius * radius + 4 * halfHeight * halfHeight);
          var cos = 2 * halfHeight * invDenom;
          var sin = radius * invDenom;
          var _g172 = 0;

          while (_g172 < 8) {
            var _i73 = _g172++;

            var _this138 = this.tmpCircleNorms[_i73];
            var _v54 = this.circleCoords[_i73];
            _this138.x = _v54.x;
            _this138.y = _v54.y;
            _this138.z = _v54.z;
            _this138.x *= cos;
            _this138.y *= cos;
            _this138.z *= cos;
            _this138.y += sin;
            var _this139 = this.tmpCircleNorms[_i73];
            var y = _this139.x * m.e10 + _this139.y * m.e11 + _this139.z * m.e12;
            var z = _this139.x * m.e20 + _this139.y * m.e21 + _this139.z * m.e22;
            _this139.x = _this139.x * m.e00 + _this139.y * m.e01 + _this139.z * m.e02;
            _this139.y = y;
            _this139.z = z;
            var _this140 = this.tmpCircleVerts1[_i73];
            var v1 = this.circleCoordsShift[_i73];
            _this140.x = v1.x;
            _this140.y = v1.y;
            _this140.z = v1.z;
            _this140.x *= cos;
            _this140.y *= cos;
            _this140.z *= cos;
            _this140.y += sin;
            var _this141 = this.tmpCircleVerts1[_i73];
            var y1 = _this141.x * m.e10 + _this141.y * m.e11 + _this141.z * m.e12;
            var z1 = _this141.x * m.e20 + _this141.y * m.e21 + _this141.z * m.e22;
            _this141.x = _this141.x * m.e00 + _this141.y * m.e01 + _this141.z * m.e02;
            _this141.y = y1;
            _this141.z = z1;
            var _this142 = this.tmpCircleVerts2[_i73];
            var v2 = this.circleCoords[_i73];
            _this142.x = v2.x;
            _this142.y = v2.y;
            _this142.z = v2.z;
            var y2 = _this142.x * m.e10 + _this142.y * m.e11 + _this142.z * m.e12;
            var z2 = _this142.x * m.e20 + _this142.y * m.e21 + _this142.z * m.e22;
            _this142.x = _this142.x * m.e00 + _this142.y * m.e01 + _this142.z * m.e02;
            _this142.y = y2;
            _this142.z = z2;
            _this142.x *= radius;
            _this142.y *= radius;
            _this142.z *= radius;
            _this142.x += o.x;
            _this142.y += o.y;
            _this142.z += o.z;
            var _this143 = this.tmpCircleVerts2[_i73];

            var _s11 = -halfHeight;

            _this143.x += ey.x * _s11;
            _this143.y += ey.y * _s11;
            _this143.z += ey.z * _s11;
          }

          var _g173 = 0;

          while (_g173 < 8) {
            var _i74 = _g173++;

            var _v55 = this.tmpCircleVerts2[_i74];
            var v3 = this.tmpCircleVerts2[(_i74 + 1) % 8];
            var n1 = this.tmpCircleVerts1[_i74];
            this.triangle(_this7, _v55, v3, n1, this.tmpCircleNorms[_i74], this.tmpCircleNorms[(_i74 + 1) % 8], color);
            _v55 = this.tmpCircleVerts2[(_i74 + 1) % 8];
            v3 = this.tmpCircleVerts2[_i74];
            var _this144 = this.p;

            var _this145 = _this144.sizeVec3 == 0 ? new oimo.common.Vec3() : _this144.stackVec3[--_this144.sizeVec3];

            _this145.x = ey.x;
            _this145.y = ey.y;
            _this145.z = ey.z;
            var _this146 = _this145;
            _this146.x = -_this146.x;
            _this146.y = -_this146.y;
            _this146.z = -_this146.z;
            this.triangle(_this10, _v55, v3, _this146, _this146, _this146, color);
            var _this147 = this.p;

            if (_this146 != null) {
              _this146.zero();

              if (_this147.sizeVec3 == _this147.stackVec3.length) {
                var _newArray64 = new Array(_this147.sizeVec3 << 1);

                var _g174 = 0;
                var _g175 = _this147.sizeVec3;

                while (_g174 < _g175) {
                  var _i75 = _g174++;

                  _newArray64[_i75] = _this147.stackVec3[_i75];
                  _this147.stackVec3[_i75] = null;
                }

                _this147.stackVec3 = _newArray64;
              }

              _this147.stackVec3[_this147.sizeVec3++] = _this146;
            }
          }
        }

        var _this11 = this.p;

        if (_this7 != null) {
          _this7.zero();

          if (_this11.sizeVec3 == _this11.stackVec3.length) {
            var _newArray65 = new Array(_this11.sizeVec3 << 1);

            var _g176 = 0;
            var _g177 = _this11.sizeVec3;

            while (_g176 < _g177) {
              var _i76 = _g176++;

              _newArray65[_i76] = _this11.stackVec3[_i76];
              _this11.stackVec3[_i76] = null;
            }

            _this11.stackVec3 = _newArray65;
          }

          _this11.stackVec3[_this11.sizeVec3++] = _this7;
        }

        var _this12 = this.p;

        if (_this10 != null) {
          _this10.zero();

          if (_this12.sizeVec3 == _this12.stackVec3.length) {
            var _newArray66 = new Array(_this12.sizeVec3 << 1);

            var _g178 = 0;
            var _g179 = _this12.sizeVec3;

            while (_g178 < _g179) {
              var _i77 = _g178++;

              _newArray66[_i77] = _this12.stackVec3[_i77];
              _this12.stackVec3[_i77] = null;
            }

            _this12.stackVec3 = _newArray66;
          }

          _this12.stackVec3[_this12.sizeVec3++] = _this10;
        }

        var _this13 = this.p;

        if (o != null) {
          o.zero();

          if (_this13.sizeVec3 == _this13.stackVec3.length) {
            var _newArray67 = new Array(_this13.sizeVec3 << 1);

            var _g180 = 0;
            var _g181 = _this13.sizeVec3;

            while (_g180 < _g181) {
              var _i78 = _g180++;

              _newArray67[_i78] = _this13.stackVec3[_i78];
              _this13.stackVec3[_i78] = null;
            }

            _this13.stackVec3 = _newArray67;
          }

          _this13.stackVec3[_this13.sizeVec3++] = o;
        }

        var _this14 = this.p;

        if (m != null) {
          m.e00 = 1;
          m.e01 = 0;
          m.e02 = 0;
          m.e10 = 0;
          m.e11 = 1;
          m.e12 = 0;
          m.e20 = 0;
          m.e21 = 0;
          m.e22 = 1;

          if (_this14.sizeMat3 == _this14.stackMat3.length) {
            var _newArray68 = new Array(_this14.sizeMat3 << 1);

            var _g182 = 0;
            var _g183 = _this14.sizeMat3;

            while (_g182 < _g183) {
              var _i79 = _g182++;

              _newArray68[_i79] = _this14.stackMat3[_i79];
              _this14.stackMat3[_i79] = null;
            }

            _this14.stackMat3 = _newArray68;
          }

          _this14.stackMat3[_this14.sizeMat3++] = m;
        }

        var _this15 = this.p;

        if (ex != null) {
          ex.zero();

          if (_this15.sizeVec3 == _this15.stackVec3.length) {
            var _newArray69 = new Array(_this15.sizeVec3 << 1);

            var _g184 = 0;
            var _g185 = _this15.sizeVec3;

            while (_g184 < _g185) {
              var _i80 = _g184++;

              _newArray69[_i80] = _this15.stackVec3[_i80];
              _this15.stackVec3[_i80] = null;
            }

            _this15.stackVec3 = _newArray69;
          }

          _this15.stackVec3[_this15.sizeVec3++] = ex;
        }

        var _this16 = this.p;

        if (ey != null) {
          ey.zero();

          if (_this16.sizeVec3 == _this16.stackVec3.length) {
            var _newArray70 = new Array(_this16.sizeVec3 << 1);

            var _g186 = 0;
            var _g187 = _this16.sizeVec3;

            while (_g186 < _g187) {
              var _i81 = _g186++;

              _newArray70[_i81] = _this16.stackVec3[_i81];
              _this16.stackVec3[_i81] = null;
            }

            _this16.stackVec3 = _newArray70;
          }

          _this16.stackVec3[_this16.sizeVec3++] = ey;
        }

        var _this17 = this.p;

        if (ez != null) {
          ez.zero();

          if (_this17.sizeVec3 == _this17.stackVec3.length) {
            var _newArray71 = new Array(_this17.sizeVec3 << 1);

            var _g188 = 0;
            var _g189 = _this17.sizeVec3;

            while (_g188 < _g189) {
              var _i82 = _g188++;

              _newArray71[_i82] = _this17.stackVec3[_i82];
              _this17.stackVec3[_i82] = null;
            }

            _this17.stackVec3 = _newArray71;
          }

          _this17.stackVec3[_this17.sizeVec3++] = ez;
        }
      }
    }, {
      key: "cylinder",
      value: function cylinder(tf, radius, halfHeight, color) {
        var _this = this.p;
        var ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
        var _this1 = this.p;
        var ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
        var _this2 = this.p;
        var ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
        var _this3 = this.p;
        var o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
        var _this4 = this.p;
        var m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
        var v = o;
        v.x = tf._positionX;
        v.y = tf._positionY;
        v.z = tf._positionZ;
        var m1 = m;
        m1.e00 = tf._rotation00;
        m1.e01 = tf._rotation01;
        m1.e02 = tf._rotation02;
        m1.e10 = tf._rotation10;
        m1.e11 = tf._rotation11;
        m1.e12 = tf._rotation12;
        m1.e20 = tf._rotation20;
        m1.e21 = tf._rotation21;
        m1.e22 = tf._rotation22;
        ex.init(m.e00, m.e10, m.e20);
        ey.init(m.e01, m.e11, m.e21);
        ez.init(m.e02, m.e12, m.e22);
        var _this5 = this.p;

        var _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];

        _this6.x = o.x;
        _this6.y = o.y;
        _this6.z = o.z;
        var _this7 = _this6;
        _this7.x += ey.x * halfHeight;
        _this7.y += ey.y * halfHeight;
        _this7.z += ey.z * halfHeight;
        var _this8 = this.p;

        var _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];

        _this9.x = o.x;
        _this9.y = o.y;
        _this9.z = o.z;
        var _this10 = _this9;
        var s = -halfHeight;
        _this10.x += ey.x * s;
        _this10.y += ey.y * s;
        _this10.z += ey.z * s;

        if (this.wireframe) {
          var _this148 = this.p;

          var _this149 = _this148.sizeVec3 == 0 ? new oimo.common.Vec3() : _this148.stackVec3[--_this148.sizeVec3];

          _this149.x = _this7.x;
          _this149.y = _this7.y;
          _this149.z = _this7.z;
          var _this150 = _this149;

          var _s12 = -radius;

          _this150.x += ex.x * _s12;
          _this150.y += ex.y * _s12;
          _this150.z += ex.z * _s12;
          _this150.x += ez.x * 0;
          _this150.y += ez.y * 0;
          _this150.z += ez.z * 0;
          var _this151 = this.p;

          var _this152 = _this151.sizeVec3 == 0 ? new oimo.common.Vec3() : _this151.stackVec3[--_this151.sizeVec3];

          _this152.x = _this7.x;
          _this152.y = _this7.y;
          _this152.z = _this7.z;
          var _this153 = _this152;
          _this153.x += ex.x * radius;
          _this153.y += ex.y * radius;
          _this153.z += ex.z * radius;
          _this153.x += ez.x * 0;
          _this153.y += ez.y * 0;
          _this153.z += ez.z * 0;
          var _this154 = this.p;

          var _this155 = _this154.sizeVec3 == 0 ? new oimo.common.Vec3() : _this154.stackVec3[--_this154.sizeVec3];

          _this155.x = _this7.x;
          _this155.y = _this7.y;
          _this155.z = _this7.z;
          var _this156 = _this155;
          _this156.x += ex.x * 0;
          _this156.y += ex.y * 0;
          _this156.z += ex.z * 0;
          var s1 = -radius;
          _this156.x += ez.x * s1;
          _this156.y += ez.y * s1;
          _this156.z += ez.z * s1;
          var _this157 = this.p;

          var _this158 = _this157.sizeVec3 == 0 ? new oimo.common.Vec3() : _this157.stackVec3[--_this157.sizeVec3];

          _this158.x = _this7.x;
          _this158.y = _this7.y;
          _this158.z = _this7.z;
          var _this159 = _this158;
          _this159.x += ex.x * 0;
          _this159.y += ex.y * 0;
          _this159.z += ex.z * 0;
          _this159.x += ez.x * radius;
          _this159.y += ez.y * radius;
          _this159.z += ez.z * radius;
          var _this160 = this.p;

          var _this161 = _this160.sizeVec3 == 0 ? new oimo.common.Vec3() : _this160.stackVec3[--_this160.sizeVec3];

          _this161.x = _this10.x;
          _this161.y = _this10.y;
          _this161.z = _this10.z;
          var _this162 = _this161;
          var s2 = -radius;
          _this162.x += ex.x * s2;
          _this162.y += ex.y * s2;
          _this162.z += ex.z * s2;
          _this162.x += ez.x * 0;
          _this162.y += ez.y * 0;
          _this162.z += ez.z * 0;
          var _this163 = this.p;

          var _this18 = _this163.sizeVec3 == 0 ? new oimo.common.Vec3() : _this163.stackVec3[--_this163.sizeVec3];

          _this18.x = _this10.x;
          _this18.y = _this10.y;
          _this18.z = _this10.z;
          var _this19 = _this18;
          _this19.x += ex.x * radius;
          _this19.y += ex.y * radius;
          _this19.z += ex.z * radius;
          _this19.x += ez.x * 0;
          _this19.y += ez.y * 0;
          _this19.z += ez.z * 0;
          var _this20 = this.p;

          var _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];

          _this21.x = _this10.x;
          _this21.y = _this10.y;
          _this21.z = _this10.z;
          var _this22 = _this21;
          _this22.x += ex.x * 0;
          _this22.y += ex.y * 0;
          _this22.z += ex.z * 0;
          var s3 = -radius;
          _this22.x += ez.x * s3;
          _this22.y += ez.y * s3;
          _this22.z += ez.z * s3;
          var _this23 = this.p;

          var _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];

          _this24.x = _this10.x;
          _this24.y = _this10.y;
          _this24.z = _this10.z;
          var _this25 = _this24;
          _this25.x += ex.x * 0;
          _this25.y += ex.y * 0;
          _this25.z += ex.z * 0;
          _this25.x += ez.x * radius;
          _this25.y += ez.y * radius;
          _this25.z += ez.z * radius;
          this.ellipse(_this7, ex, ez, radius, radius, color);
          this.ellipse(_this10, ex, ez, radius, radius, color);
          this.line(_this150, _this162, color);
          this.line(_this153, _this19, color);
          this.line(_this156, _this22, color);
          this.line(_this159, _this25, color);
          var _this26 = this.p;

          if (_this150 != null) {
            _this150.zero();

            if (_this26.sizeVec3 == _this26.stackVec3.length) {
              var newArray = new Array(_this26.sizeVec3 << 1);
              var _g = 0;
              var _g1 = _this26.sizeVec3;

              while (_g < _g1) {
                var i = _g++;
                newArray[i] = _this26.stackVec3[i];
                _this26.stackVec3[i] = null;
              }

              _this26.stackVec3 = newArray;
            }

            _this26.stackVec3[_this26.sizeVec3++] = _this150;
          }

          var _this27 = this.p;

          if (_this153 != null) {
            _this153.zero();

            if (_this27.sizeVec3 == _this27.stackVec3.length) {
              var _newArray72 = new Array(_this27.sizeVec3 << 1);

              var _g190 = 0;
              var _g191 = _this27.sizeVec3;

              while (_g190 < _g191) {
                var _i83 = _g190++;

                _newArray72[_i83] = _this27.stackVec3[_i83];
                _this27.stackVec3[_i83] = null;
              }

              _this27.stackVec3 = _newArray72;
            }

            _this27.stackVec3[_this27.sizeVec3++] = _this153;
          }

          var _this28 = this.p;

          if (_this156 != null) {
            _this156.zero();

            if (_this28.sizeVec3 == _this28.stackVec3.length) {
              var _newArray73 = new Array(_this28.sizeVec3 << 1);

              var _g192 = 0;
              var _g193 = _this28.sizeVec3;

              while (_g192 < _g193) {
                var _i84 = _g192++;

                _newArray73[_i84] = _this28.stackVec3[_i84];
                _this28.stackVec3[_i84] = null;
              }

              _this28.stackVec3 = _newArray73;
            }

            _this28.stackVec3[_this28.sizeVec3++] = _this156;
          }

          var _this29 = this.p;

          if (_this159 != null) {
            _this159.zero();

            if (_this29.sizeVec3 == _this29.stackVec3.length) {
              var _newArray74 = new Array(_this29.sizeVec3 << 1);

              var _g194 = 0;
              var _g195 = _this29.sizeVec3;

              while (_g194 < _g195) {
                var _i85 = _g194++;

                _newArray74[_i85] = _this29.stackVec3[_i85];
                _this29.stackVec3[_i85] = null;
              }

              _this29.stackVec3 = _newArray74;
            }

            _this29.stackVec3[_this29.sizeVec3++] = _this159;
          }

          var _this30 = this.p;

          if (_this162 != null) {
            _this162.zero();

            if (_this30.sizeVec3 == _this30.stackVec3.length) {
              var _newArray75 = new Array(_this30.sizeVec3 << 1);

              var _g196 = 0;
              var _g197 = _this30.sizeVec3;

              while (_g196 < _g197) {
                var _i86 = _g196++;

                _newArray75[_i86] = _this30.stackVec3[_i86];
                _this30.stackVec3[_i86] = null;
              }

              _this30.stackVec3 = _newArray75;
            }

            _this30.stackVec3[_this30.sizeVec3++] = _this162;
          }

          var _this31 = this.p;

          if (_this19 != null) {
            _this19.zero();

            if (_this31.sizeVec3 == _this31.stackVec3.length) {
              var _newArray76 = new Array(_this31.sizeVec3 << 1);

              var _g198 = 0;
              var _g199 = _this31.sizeVec3;

              while (_g198 < _g199) {
                var _i87 = _g198++;

                _newArray76[_i87] = _this31.stackVec3[_i87];
                _this31.stackVec3[_i87] = null;
              }

              _this31.stackVec3 = _newArray76;
            }

            _this31.stackVec3[_this31.sizeVec3++] = _this19;
          }

          var _this32 = this.p;

          if (_this22 != null) {
            _this22.zero();

            if (_this32.sizeVec3 == _this32.stackVec3.length) {
              var _newArray77 = new Array(_this32.sizeVec3 << 1);

              var _g200 = 0;
              var _g201 = _this32.sizeVec3;

              while (_g200 < _g201) {
                var _i88 = _g200++;

                _newArray77[_i88] = _this32.stackVec3[_i88];
                _this32.stackVec3[_i88] = null;
              }

              _this32.stackVec3 = _newArray77;
            }

            _this32.stackVec3[_this32.sizeVec3++] = _this22;
          }

          var _this33 = this.p;

          if (_this25 != null) {
            _this25.zero();

            if (_this33.sizeVec3 == _this33.stackVec3.length) {
              var _newArray78 = new Array(_this33.sizeVec3 << 1);

              var _g202 = 0;
              var _g203 = _this33.sizeVec3;

              while (_g202 < _g203) {
                var _i89 = _g202++;

                _newArray78[_i89] = _this33.stackVec3[_i89];
                _this33.stackVec3[_i89] = null;
              }

              _this33.stackVec3 = _newArray78;
            }

            _this33.stackVec3[_this33.sizeVec3++] = _this25;
          }
        } else {
          var _g204 = 0;

          while (_g204 < 8) {
            var _i90 = _g204++;

            var _this164 = this.tmpCircleNorms[_i90];
            var _v56 = this.circleCoords[_i90];
            _this164.x = _v56.x;
            _this164.y = _v56.y;
            _this164.z = _v56.z;
            var y = _this164.x * m.e10 + _this164.y * m.e11 + _this164.z * m.e12;
            var z = _this164.x * m.e20 + _this164.y * m.e21 + _this164.z * m.e22;
            _this164.x = _this164.x * m.e00 + _this164.y * m.e01 + _this164.z * m.e02;
            _this164.y = y;
            _this164.z = z;
            var _this165 = this.tmpCircleVerts1[_i90];
            var v1 = this.tmpCircleNorms[_i90];
            _this165.x = v1.x;
            _this165.y = v1.y;
            _this165.z = v1.z;
            _this165.x *= radius;
            _this165.y *= radius;
            _this165.z *= radius;
            _this165.x += o.x;
            _this165.y += o.y;
            _this165.z += o.z;
            var _this166 = this.tmpCircleVerts2[_i90];
            var v2 = this.tmpCircleVerts1[_i90];
            _this166.x = v2.x;
            _this166.y = v2.y;
            _this166.z = v2.z;
            var _this167 = this.tmpCircleVerts1[_i90];
            _this167.x += ey.x * halfHeight;
            _this167.y += ey.y * halfHeight;
            _this167.z += ey.z * halfHeight;
            var _this168 = this.tmpCircleVerts2[_i90];

            var _s13 = -halfHeight;

            _this168.x += ey.x * _s13;
            _this168.y += ey.y * _s13;
            _this168.z += ey.z * _s13;
          }

          var _g205 = 0;

          while (_g205 < 8) {
            var _i91 = _g205++;

            var _v57 = void 0;

            var _v58 = this.tmpCircleVerts1[_i91];
            var v3 = this.tmpCircleVerts1[(_i91 + 1) % 8];
            var n1 = ey;
            this.triangle(_this7, _v58, v3, n1, n1, n1, color);
            _v58 = this.tmpCircleVerts2[(_i91 + 1) % 8];
            v3 = this.tmpCircleVerts2[_i91];
            var _this169 = this.p;

            var _this170 = _this169.sizeVec3 == 0 ? new oimo.common.Vec3() : _this169.stackVec3[--_this169.sizeVec3];

            _this170.x = ey.x;
            _this170.y = ey.y;
            _this170.z = ey.z;
            var _this171 = _this170;
            _this171.x = -_this171.x;
            _this171.y = -_this171.y;
            _this171.z = -_this171.z;
            this.triangle(_this10, _v58, v3, _this171, _this171, _this171, color);
            var _this172 = this.p;

            if (_this171 != null) {
              _this171.zero();

              if (_this172.sizeVec3 == _this172.stackVec3.length) {
                var _newArray79 = new Array(_this172.sizeVec3 << 1);

                var _g206 = 0;
                var _g207 = _this172.sizeVec3;

                while (_g206 < _g207) {
                  var _i92 = _g206++;

                  _newArray79[_i92] = _this172.stackVec3[_i92];
                  _this172.stackVec3[_i92] = null;
                }

                _this172.stackVec3 = _newArray79;
              }

              _this172.stackVec3[_this172.sizeVec3++] = _this171;
            }

            _v57 = this.tmpCircleVerts1[_i91];
            _v58 = this.tmpCircleVerts2[_i91];
            v3 = this.tmpCircleVerts2[(_i91 + 1) % 8];
            n1 = this.tmpCircleNorms[_i91];
            var n2 = this.tmpCircleNorms[(_i91 + 1) % 8];
            this.rect(_v57, _v58, v3, this.tmpCircleVerts1[(_i91 + 1) % 8], n1, n1, n2, n2, color);
          }
        }

        var _this11 = this.p;

        if (_this7 != null) {
          _this7.zero();

          if (_this11.sizeVec3 == _this11.stackVec3.length) {
            var _newArray80 = new Array(_this11.sizeVec3 << 1);

            var _g208 = 0;
            var _g209 = _this11.sizeVec3;

            while (_g208 < _g209) {
              var _i93 = _g208++;

              _newArray80[_i93] = _this11.stackVec3[_i93];
              _this11.stackVec3[_i93] = null;
            }

            _this11.stackVec3 = _newArray80;
          }

          _this11.stackVec3[_this11.sizeVec3++] = _this7;
        }

        var _this12 = this.p;

        if (_this10 != null) {
          _this10.zero();

          if (_this12.sizeVec3 == _this12.stackVec3.length) {
            var _newArray81 = new Array(_this12.sizeVec3 << 1);

            var _g210 = 0;
            var _g211 = _this12.sizeVec3;

            while (_g210 < _g211) {
              var _i94 = _g210++;

              _newArray81[_i94] = _this12.stackVec3[_i94];
              _this12.stackVec3[_i94] = null;
            }

            _this12.stackVec3 = _newArray81;
          }

          _this12.stackVec3[_this12.sizeVec3++] = _this10;
        }

        var _this13 = this.p;

        if (o != null) {
          o.zero();

          if (_this13.sizeVec3 == _this13.stackVec3.length) {
            var _newArray82 = new Array(_this13.sizeVec3 << 1);

            var _g212 = 0;
            var _g213 = _this13.sizeVec3;

            while (_g212 < _g213) {
              var _i95 = _g212++;

              _newArray82[_i95] = _this13.stackVec3[_i95];
              _this13.stackVec3[_i95] = null;
            }

            _this13.stackVec3 = _newArray82;
          }

          _this13.stackVec3[_this13.sizeVec3++] = o;
        }

        var _this14 = this.p;

        if (m != null) {
          m.e00 = 1;
          m.e01 = 0;
          m.e02 = 0;
          m.e10 = 0;
          m.e11 = 1;
          m.e12 = 0;
          m.e20 = 0;
          m.e21 = 0;
          m.e22 = 1;

          if (_this14.sizeMat3 == _this14.stackMat3.length) {
            var _newArray83 = new Array(_this14.sizeMat3 << 1);

            var _g214 = 0;
            var _g215 = _this14.sizeMat3;

            while (_g214 < _g215) {
              var _i96 = _g214++;

              _newArray83[_i96] = _this14.stackMat3[_i96];
              _this14.stackMat3[_i96] = null;
            }

            _this14.stackMat3 = _newArray83;
          }

          _this14.stackMat3[_this14.sizeMat3++] = m;
        }

        var _this15 = this.p;

        if (ex != null) {
          ex.zero();

          if (_this15.sizeVec3 == _this15.stackVec3.length) {
            var _newArray84 = new Array(_this15.sizeVec3 << 1);

            var _g216 = 0;
            var _g217 = _this15.sizeVec3;

            while (_g216 < _g217) {
              var _i97 = _g216++;

              _newArray84[_i97] = _this15.stackVec3[_i97];
              _this15.stackVec3[_i97] = null;
            }

            _this15.stackVec3 = _newArray84;
          }

          _this15.stackVec3[_this15.sizeVec3++] = ex;
        }

        var _this16 = this.p;

        if (ey != null) {
          ey.zero();

          if (_this16.sizeVec3 == _this16.stackVec3.length) {
            var _newArray85 = new Array(_this16.sizeVec3 << 1);

            var _g218 = 0;
            var _g219 = _this16.sizeVec3;

            while (_g218 < _g219) {
              var _i98 = _g218++;

              _newArray85[_i98] = _this16.stackVec3[_i98];
              _this16.stackVec3[_i98] = null;
            }

            _this16.stackVec3 = _newArray85;
          }

          _this16.stackVec3[_this16.sizeVec3++] = ey;
        }

        var _this17 = this.p;

        if (ez != null) {
          ez.zero();

          if (_this17.sizeVec3 == _this17.stackVec3.length) {
            var _newArray86 = new Array(_this17.sizeVec3 << 1);

            var _g220 = 0;
            var _g221 = _this17.sizeVec3;

            while (_g220 < _g221) {
              var _i99 = _g220++;

              _newArray86[_i99] = _this17.stackVec3[_i99];
              _this17.stackVec3[_i99] = null;
            }

            _this17.stackVec3 = _newArray86;
          }

          _this17.stackVec3[_this17.sizeVec3++] = ez;
        }
      }
    }, {
      key: "capsule",
      value: function capsule(tf, radius, halfHeight, color) {
        var _this = this.p;
        var ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
        var _this1 = this.p;
        var ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
        var _this2 = this.p;
        var ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
        var _this3 = this.p;
        var o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
        var _this4 = this.p;
        var m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
        var v = o;
        v.x = tf._positionX;
        v.y = tf._positionY;
        v.z = tf._positionZ;
        var m1 = m;
        m1.e00 = tf._rotation00;
        m1.e01 = tf._rotation01;
        m1.e02 = tf._rotation02;
        m1.e10 = tf._rotation10;
        m1.e11 = tf._rotation11;
        m1.e12 = tf._rotation12;
        m1.e20 = tf._rotation20;
        m1.e21 = tf._rotation21;
        m1.e22 = tf._rotation22;
        ex.init(m.e00, m.e10, m.e20);
        ey.init(m.e01, m.e11, m.e21);
        ez.init(m.e02, m.e12, m.e22);
        var vs = this.tmpSphereVerts;
        var ns = this.tmpSphereNorms;
        var _g = 0;

        while (_g < 5) {
          var i2 = _g++;
          var n = this.tmpSphereVerts[i2].length;
          var _g222 = 0;

          while (_g222 < n) {
            var j2 = _g222++;
            var _this173 = ns[i2][j2];
            var _v59 = this.sphereCoords[i2][j2];
            _this173.x = _v59.x;
            _this173.y = _v59.y;
            _this173.z = _v59.z;
            var y = _this173.x * m.e10 + _this173.y * m.e11 + _this173.z * m.e12;
            var z = _this173.x * m.e20 + _this173.y * m.e21 + _this173.z * m.e22;
            _this173.x = _this173.x * m.e00 + _this173.y * m.e01 + _this173.z * m.e02;
            _this173.y = y;
            _this173.z = z;
          }
        }

        var _g1 = 0;

        while (_g1 < 4) {
          var i = _g1++;

          if (i == 0) {
            var _g224 = 0;

            while (_g224 < 3) {
              var _i100 = _g224++;

              var _n7 = this.tmpSphereVerts[_i100].length;
              var _g225 = 0;

              while (_g225 < _n7) {
                var _j = _g225++;

                var _this174 = vs[_i100][_j];
                var _v60 = ns[_i100][_j];
                _this174.x = _v60.x;
                _this174.y = _v60.y;
                _this174.z = _v60.z;
                _this174.x *= radius;
                _this174.y *= radius;
                _this174.z *= radius;
                _this174.x += o.x;
                _this174.y += o.y;
                _this174.z += o.z;
                _this174.x += ey.x * halfHeight;
                _this174.y += ey.y * halfHeight;
                _this174.z += ey.z * halfHeight;
              }
            }
          }

          if (i == 2) {
            var _g226 = 2;

            while (_g226 < 5) {
              var _i101 = _g226++;

              var _n8 = this.tmpSphereVerts[_i101].length;
              var _g227 = 0;

              while (_g227 < _n8) {
                var _j2 = _g227++;

                var _this175 = vs[_i101][_j2];
                var _v61 = ns[_i101][_j2];
                _this175.x = _v61.x;
                _this175.y = _v61.y;
                _this175.z = _v61.z;
                _this175.x *= radius;
                _this175.y *= radius;
                _this175.z *= radius;
                _this175.x += o.x;
                _this175.y += o.y;
                _this175.z += o.z;

                var _s14 = -halfHeight;

                _this175.x += ey.x * _s14;
                _this175.y += ey.y * _s14;
                _this175.z += ey.z * _s14;
              }
            }
          }

          var _g223 = 0;

          while (_g223 < 8) {
            var j = _g223++;
            var v1 = void 0;
            var v2 = void 0;
            var v3 = void 0;
            var v4 = void 0;
            var n1 = void 0;
            var n2 = void 0;
            var n3 = void 0;
            var n4 = void 0;

            if (i == 0) {
              if (this.wireframe) {
                v1 = vs[0][0];
                v2 = vs[1][j];
                this.line(v1, v2, color);
              } else {
                v1 = vs[0][0];
                v2 = vs[1][j];
                v3 = vs[1][(j + 1) % 8];
                n1 = ns[0][0];
                n2 = ns[1][j];
                n3 = ns[1][(j + 1) % 8];
                this.triangle(v1, v2, v3, n1, n2, n3, color);
              }
            } else if (i == 3) {
              if (this.wireframe) {
                v1 = vs[4][0];
                v2 = vs[i][(j + 1) % 8];
                v3 = vs[i][j];
                this.line(v1, v2, color);
                this.line(v2, v3, color);
              } else {
                v1 = vs[4][0];
                v2 = vs[i][(j + 1) % 8];
                v3 = vs[i][j];
                n1 = ns[4][0];
                n2 = ns[i][(j + 1) % 8];
                n3 = ns[i][j];
                this.triangle(v1, v2, v3, n1, n2, n3, color);
              }
            } else if (this.wireframe) {
              v1 = vs[i][j];
              v2 = vs[i][(j + 1) % 8];
              v3 = vs[i + 1][j];
              this.line(v1, v2, color);
              this.line(v1, v3, color);
            } else {
              v1 = vs[i][j];
              v2 = vs[i][(j + 1) % 8];
              v3 = vs[i + 1][j];
              v4 = vs[i + 1][(j + 1) % 8];
              n1 = ns[i][j];
              n2 = ns[i][(j + 1) % 8];
              n3 = ns[i + 1][j];
              n4 = ns[i + 1][(j + 1) % 8];
              this.rect(v1, v3, v4, v2, n1, n3, n4, n2, color);
            }
          }
        }

        var _this5 = this.p;

        var _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];

        _this6.x = o.x;
        _this6.y = o.y;
        _this6.z = o.z;
        var _this7 = _this6;
        _this7.x += ey.x * halfHeight;
        _this7.y += ey.y * halfHeight;
        _this7.z += ey.z * halfHeight;
        var _this8 = this.p;

        var _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];

        _this9.x = o.x;
        _this9.y = o.y;
        _this9.z = o.z;
        var _this10 = _this9;
        var s = -halfHeight;
        _this10.x += ey.x * s;
        _this10.y += ey.y * s;
        _this10.z += ey.z * s;

        if (this.wireframe) {
          var _this176 = this.p;

          var _this177 = _this176.sizeVec3 == 0 ? new oimo.common.Vec3() : _this176.stackVec3[--_this176.sizeVec3];

          _this177.x = _this7.x;
          _this177.y = _this7.y;
          _this177.z = _this7.z;
          var _this178 = _this177;

          var _s15 = -radius;

          _this178.x += ex.x * _s15;
          _this178.y += ex.y * _s15;
          _this178.z += ex.z * _s15;
          _this178.x += ez.x * 0;
          _this178.y += ez.y * 0;
          _this178.z += ez.z * 0;
          var _this179 = this.p;

          var _this180 = _this179.sizeVec3 == 0 ? new oimo.common.Vec3() : _this179.stackVec3[--_this179.sizeVec3];

          _this180.x = _this7.x;
          _this180.y = _this7.y;
          _this180.z = _this7.z;
          var _this181 = _this180;
          _this181.x += ex.x * radius;
          _this181.y += ex.y * radius;
          _this181.z += ex.z * radius;
          _this181.x += ez.x * 0;
          _this181.y += ez.y * 0;
          _this181.z += ez.z * 0;
          var _this182 = this.p;

          var _this183 = _this182.sizeVec3 == 0 ? new oimo.common.Vec3() : _this182.stackVec3[--_this182.sizeVec3];

          _this183.x = _this7.x;
          _this183.y = _this7.y;
          _this183.z = _this7.z;
          var _this184 = _this183;
          _this184.x += ex.x * 0;
          _this184.y += ex.y * 0;
          _this184.z += ex.z * 0;
          var s1 = -radius;
          _this184.x += ez.x * s1;
          _this184.y += ez.y * s1;
          _this184.z += ez.z * s1;
          var _this185 = this.p;

          var _this186 = _this185.sizeVec3 == 0 ? new oimo.common.Vec3() : _this185.stackVec3[--_this185.sizeVec3];

          _this186.x = _this7.x;
          _this186.y = _this7.y;
          _this186.z = _this7.z;
          var _this187 = _this186;
          _this187.x += ex.x * 0;
          _this187.y += ex.y * 0;
          _this187.z += ex.z * 0;
          _this187.x += ez.x * radius;
          _this187.y += ez.y * radius;
          _this187.z += ez.z * radius;
          var _this188 = this.p;

          var _this189 = _this188.sizeVec3 == 0 ? new oimo.common.Vec3() : _this188.stackVec3[--_this188.sizeVec3];

          _this189.x = _this10.x;
          _this189.y = _this10.y;
          _this189.z = _this10.z;
          var _this190 = _this189;
          var s2 = -radius;
          _this190.x += ex.x * s2;
          _this190.y += ex.y * s2;
          _this190.z += ex.z * s2;
          _this190.x += ez.x * 0;
          _this190.y += ez.y * 0;
          _this190.z += ez.z * 0;
          var _this191 = this.p;

          var _this18 = _this191.sizeVec3 == 0 ? new oimo.common.Vec3() : _this191.stackVec3[--_this191.sizeVec3];

          _this18.x = _this10.x;
          _this18.y = _this10.y;
          _this18.z = _this10.z;
          var _this19 = _this18;
          _this19.x += ex.x * radius;
          _this19.y += ex.y * radius;
          _this19.z += ex.z * radius;
          _this19.x += ez.x * 0;
          _this19.y += ez.y * 0;
          _this19.z += ez.z * 0;
          var _this20 = this.p;

          var _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];

          _this21.x = _this10.x;
          _this21.y = _this10.y;
          _this21.z = _this10.z;
          var _this22 = _this21;
          _this22.x += ex.x * 0;
          _this22.y += ex.y * 0;
          _this22.z += ex.z * 0;
          var s3 = -radius;
          _this22.x += ez.x * s3;
          _this22.y += ez.y * s3;
          _this22.z += ez.z * s3;
          var _this23 = this.p;

          var _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];

          _this24.x = _this10.x;
          _this24.y = _this10.y;
          _this24.z = _this10.z;
          var _this25 = _this24;
          _this25.x += ex.x * 0;
          _this25.y += ex.y * 0;
          _this25.z += ex.z * 0;
          _this25.x += ez.x * radius;
          _this25.y += ez.y * radius;
          _this25.z += ez.z * radius;
          this.ellipse(_this7, ex, ez, radius, radius, color);
          this.ellipse(_this10, ex, ez, radius, radius, color);
          this.line(_this178, _this190, color);
          this.line(_this181, _this19, color);
          this.line(_this184, _this22, color);
          this.line(_this187, _this25, color);
          var _this26 = this.p;

          if (_this178 != null) {
            _this178.zero();

            if (_this26.sizeVec3 == _this26.stackVec3.length) {
              var newArray = new Array(_this26.sizeVec3 << 1);
              var _g228 = 0;
              var _g229 = _this26.sizeVec3;

              while (_g228 < _g229) {
                var _i102 = _g228++;

                newArray[_i102] = _this26.stackVec3[_i102];
                _this26.stackVec3[_i102] = null;
              }

              _this26.stackVec3 = newArray;
            }

            _this26.stackVec3[_this26.sizeVec3++] = _this178;
          }

          var _this27 = this.p;

          if (_this181 != null) {
            _this181.zero();

            if (_this27.sizeVec3 == _this27.stackVec3.length) {
              var _newArray87 = new Array(_this27.sizeVec3 << 1);

              var _g230 = 0;
              var _g231 = _this27.sizeVec3;

              while (_g230 < _g231) {
                var _i103 = _g230++;

                _newArray87[_i103] = _this27.stackVec3[_i103];
                _this27.stackVec3[_i103] = null;
              }

              _this27.stackVec3 = _newArray87;
            }

            _this27.stackVec3[_this27.sizeVec3++] = _this181;
          }

          var _this28 = this.p;

          if (_this184 != null) {
            _this184.zero();

            if (_this28.sizeVec3 == _this28.stackVec3.length) {
              var _newArray88 = new Array(_this28.sizeVec3 << 1);

              var _g232 = 0;
              var _g233 = _this28.sizeVec3;

              while (_g232 < _g233) {
                var _i104 = _g232++;

                _newArray88[_i104] = _this28.stackVec3[_i104];
                _this28.stackVec3[_i104] = null;
              }

              _this28.stackVec3 = _newArray88;
            }

            _this28.stackVec3[_this28.sizeVec3++] = _this184;
          }

          var _this29 = this.p;

          if (_this187 != null) {
            _this187.zero();

            if (_this29.sizeVec3 == _this29.stackVec3.length) {
              var _newArray89 = new Array(_this29.sizeVec3 << 1);

              var _g234 = 0;
              var _g235 = _this29.sizeVec3;

              while (_g234 < _g235) {
                var _i105 = _g234++;

                _newArray89[_i105] = _this29.stackVec3[_i105];
                _this29.stackVec3[_i105] = null;
              }

              _this29.stackVec3 = _newArray89;
            }

            _this29.stackVec3[_this29.sizeVec3++] = _this187;
          }

          var _this30 = this.p;

          if (_this190 != null) {
            _this190.zero();

            if (_this30.sizeVec3 == _this30.stackVec3.length) {
              var _newArray90 = new Array(_this30.sizeVec3 << 1);

              var _g236 = 0;
              var _g237 = _this30.sizeVec3;

              while (_g236 < _g237) {
                var _i106 = _g236++;

                _newArray90[_i106] = _this30.stackVec3[_i106];
                _this30.stackVec3[_i106] = null;
              }

              _this30.stackVec3 = _newArray90;
            }

            _this30.stackVec3[_this30.sizeVec3++] = _this190;
          }

          var _this31 = this.p;

          if (_this19 != null) {
            _this19.zero();

            if (_this31.sizeVec3 == _this31.stackVec3.length) {
              var _newArray91 = new Array(_this31.sizeVec3 << 1);

              var _g238 = 0;
              var _g239 = _this31.sizeVec3;

              while (_g238 < _g239) {
                var _i107 = _g238++;

                _newArray91[_i107] = _this31.stackVec3[_i107];
                _this31.stackVec3[_i107] = null;
              }

              _this31.stackVec3 = _newArray91;
            }

            _this31.stackVec3[_this31.sizeVec3++] = _this19;
          }

          var _this32 = this.p;

          if (_this22 != null) {
            _this22.zero();

            if (_this32.sizeVec3 == _this32.stackVec3.length) {
              var _newArray92 = new Array(_this32.sizeVec3 << 1);

              var _g240 = 0;
              var _g241 = _this32.sizeVec3;

              while (_g240 < _g241) {
                var _i108 = _g240++;

                _newArray92[_i108] = _this32.stackVec3[_i108];
                _this32.stackVec3[_i108] = null;
              }

              _this32.stackVec3 = _newArray92;
            }

            _this32.stackVec3[_this32.sizeVec3++] = _this22;
          }

          var _this33 = this.p;

          if (_this25 != null) {
            _this25.zero();

            if (_this33.sizeVec3 == _this33.stackVec3.length) {
              var _newArray93 = new Array(_this33.sizeVec3 << 1);

              var _g242 = 0;
              var _g243 = _this33.sizeVec3;

              while (_g242 < _g243) {
                var _i109 = _g242++;

                _newArray93[_i109] = _this33.stackVec3[_i109];
                _this33.stackVec3[_i109] = null;
              }

              _this33.stackVec3 = _newArray93;
            }

            _this33.stackVec3[_this33.sizeVec3++] = _this25;
          }
        } else {
          var _g244 = 0;

          while (_g244 < 8) {
            var _i110 = _g244++;

            var _this192 = this.tmpCircleNorms[_i110];
            var _v62 = this.circleCoords[_i110];
            _this192.x = _v62.x;
            _this192.y = _v62.y;
            _this192.z = _v62.z;

            var _y4 = _this192.x * m.e10 + _this192.y * m.e11 + _this192.z * m.e12;

            var _z4 = _this192.x * m.e20 + _this192.y * m.e21 + _this192.z * m.e22;

            _this192.x = _this192.x * m.e00 + _this192.y * m.e01 + _this192.z * m.e02;
            _this192.y = _y4;
            _this192.z = _z4;
            var _this193 = this.tmpCircleVerts1[_i110];
            var _v63 = this.tmpCircleNorms[_i110];
            _this193.x = _v63.x;
            _this193.y = _v63.y;
            _this193.z = _v63.z;
            _this193.x *= radius;
            _this193.y *= radius;
            _this193.z *= radius;
            _this193.x += o.x;
            _this193.y += o.y;
            _this193.z += o.z;
            var _this194 = this.tmpCircleVerts2[_i110];
            var _v64 = this.tmpCircleVerts1[_i110];
            _this194.x = _v64.x;
            _this194.y = _v64.y;
            _this194.z = _v64.z;
            var _this195 = this.tmpCircleVerts1[_i110];
            _this195.x += ey.x * halfHeight;
            _this195.y += ey.y * halfHeight;
            _this195.z += ey.z * halfHeight;
            var _this196 = this.tmpCircleVerts2[_i110];

            var _s16 = -halfHeight;

            _this196.x += ey.x * _s16;
            _this196.y += ey.y * _s16;
            _this196.z += ey.z * _s16;
          }

          var _g245 = 0;

          while (_g245 < 8) {
            var _i111 = _g245++;

            var _n9 = this.tmpCircleNorms[_i111];
            var _n10 = this.tmpCircleNorms[(_i111 + 1) % 8];
            this.rect(this.tmpCircleVerts1[_i111], this.tmpCircleVerts2[_i111], this.tmpCircleVerts2[(_i111 + 1) % 8], this.tmpCircleVerts1[(_i111 + 1) % 8], _n9, _n9, _n10, _n10, color);
          }
        }

        var _this11 = this.p;

        if (_this7 != null) {
          _this7.zero();

          if (_this11.sizeVec3 == _this11.stackVec3.length) {
            var _newArray94 = new Array(_this11.sizeVec3 << 1);

            var _g246 = 0;
            var _g247 = _this11.sizeVec3;

            while (_g246 < _g247) {
              var _i112 = _g246++;

              _newArray94[_i112] = _this11.stackVec3[_i112];
              _this11.stackVec3[_i112] = null;
            }

            _this11.stackVec3 = _newArray94;
          }

          _this11.stackVec3[_this11.sizeVec3++] = _this7;
        }

        var _this12 = this.p;

        if (_this10 != null) {
          _this10.zero();

          if (_this12.sizeVec3 == _this12.stackVec3.length) {
            var _newArray95 = new Array(_this12.sizeVec3 << 1);

            var _g248 = 0;
            var _g249 = _this12.sizeVec3;

            while (_g248 < _g249) {
              var _i113 = _g248++;

              _newArray95[_i113] = _this12.stackVec3[_i113];
              _this12.stackVec3[_i113] = null;
            }

            _this12.stackVec3 = _newArray95;
          }

          _this12.stackVec3[_this12.sizeVec3++] = _this10;
        }

        var _this13 = this.p;

        if (o != null) {
          o.zero();

          if (_this13.sizeVec3 == _this13.stackVec3.length) {
            var _newArray96 = new Array(_this13.sizeVec3 << 1);

            var _g250 = 0;
            var _g251 = _this13.sizeVec3;

            while (_g250 < _g251) {
              var _i114 = _g250++;

              _newArray96[_i114] = _this13.stackVec3[_i114];
              _this13.stackVec3[_i114] = null;
            }

            _this13.stackVec3 = _newArray96;
          }

          _this13.stackVec3[_this13.sizeVec3++] = o;
        }

        var _this14 = this.p;

        if (m != null) {
          m.e00 = 1;
          m.e01 = 0;
          m.e02 = 0;
          m.e10 = 0;
          m.e11 = 1;
          m.e12 = 0;
          m.e20 = 0;
          m.e21 = 0;
          m.e22 = 1;

          if (_this14.sizeMat3 == _this14.stackMat3.length) {
            var _newArray97 = new Array(_this14.sizeMat3 << 1);

            var _g252 = 0;
            var _g253 = _this14.sizeMat3;

            while (_g252 < _g253) {
              var _i115 = _g252++;

              _newArray97[_i115] = _this14.stackMat3[_i115];
              _this14.stackMat3[_i115] = null;
            }

            _this14.stackMat3 = _newArray97;
          }

          _this14.stackMat3[_this14.sizeMat3++] = m;
        }

        var _this15 = this.p;

        if (ex != null) {
          ex.zero();

          if (_this15.sizeVec3 == _this15.stackVec3.length) {
            var _newArray98 = new Array(_this15.sizeVec3 << 1);

            var _g254 = 0;
            var _g255 = _this15.sizeVec3;

            while (_g254 < _g255) {
              var _i116 = _g254++;

              _newArray98[_i116] = _this15.stackVec3[_i116];
              _this15.stackVec3[_i116] = null;
            }

            _this15.stackVec3 = _newArray98;
          }

          _this15.stackVec3[_this15.sizeVec3++] = ex;
        }

        var _this16 = this.p;

        if (ey != null) {
          ey.zero();

          if (_this16.sizeVec3 == _this16.stackVec3.length) {
            var _newArray99 = new Array(_this16.sizeVec3 << 1);

            var _g256 = 0;
            var _g257 = _this16.sizeVec3;

            while (_g256 < _g257) {
              var _i117 = _g256++;

              _newArray99[_i117] = _this16.stackVec3[_i117];
              _this16.stackVec3[_i117] = null;
            }

            _this16.stackVec3 = _newArray99;
          }

          _this16.stackVec3[_this16.sizeVec3++] = ey;
        }

        var _this17 = this.p;

        if (ez != null) {
          ez.zero();

          if (_this17.sizeVec3 == _this17.stackVec3.length) {
            var _newArray100 = new Array(_this17.sizeVec3 << 1);

            var _g258 = 0;
            var _g259 = _this17.sizeVec3;

            while (_g258 < _g259) {
              var _i118 = _g258++;

              _newArray100[_i118] = _this17.stackVec3[_i118];
              _this17.stackVec3[_i118] = null;
            }

            _this17.stackVec3 = _newArray100;
          }

          _this17.stackVec3[_this17.sizeVec3++] = ez;
        }
      }
    }, {
      key: "sphere",
      value: function sphere(tf, radius, color) {
        var _this = this.p;
        var o = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
        var _this1 = this.p;
        var m = _this1.sizeMat3 == 0 ? new oimo.common.Mat3() : _this1.stackMat3[--_this1.sizeMat3];
        var v = o;
        v.x = tf._positionX;
        v.y = tf._positionY;
        v.z = tf._positionZ;
        var m1 = m;
        m1.e00 = tf._rotation00;
        m1.e01 = tf._rotation01;
        m1.e02 = tf._rotation02;
        m1.e10 = tf._rotation10;
        m1.e11 = tf._rotation11;
        m1.e12 = tf._rotation12;
        m1.e20 = tf._rotation20;
        m1.e21 = tf._rotation21;
        m1.e22 = tf._rotation22;
        var vs = this.tmpSphereVerts;
        var ns = this.tmpSphereNorms;
        var _g = 0;

        while (_g < 5) {
          var i = _g++;
          var n = this.tmpSphereVerts[i].length;
          var _g260 = 0;

          while (_g260 < n) {
            var j = _g260++;
            var _this197 = ns[i][j];
            var _v65 = this.sphereCoords[i][j];
            _this197.x = _v65.x;
            _this197.y = _v65.y;
            _this197.z = _v65.z;
            var y = _this197.x * m.e10 + _this197.y * m.e11 + _this197.z * m.e12;
            var z = _this197.x * m.e20 + _this197.y * m.e21 + _this197.z * m.e22;
            _this197.x = _this197.x * m.e00 + _this197.y * m.e01 + _this197.z * m.e02;
            _this197.y = y;
            _this197.z = z;
            var _this198 = vs[i][j];
            var v1 = ns[i][j];
            _this198.x = v1.x;
            _this198.y = v1.y;
            _this198.z = v1.z;
            _this198.x *= radius;
            _this198.y *= radius;
            _this198.z *= radius;
            _this198.x += o.x;
            _this198.y += o.y;
            _this198.z += o.z;
          }
        }

        var _g1 = 0;

        while (_g1 < 4) {
          var _i119 = _g1++;

          var _g261 = 0;

          while (_g261 < 8) {
            var _j3 = _g261++;

            var _v66 = void 0;

            var v2 = void 0;
            var v3 = void 0;
            var v4 = void 0;
            var n1 = void 0;
            var n2 = void 0;
            var n3 = void 0;
            var n4 = void 0;

            if (_i119 == 0) {
              if (this.wireframe) {
                _v66 = vs[0][0];
                v2 = vs[1][_j3];
                this.line(_v66, v2, color);
              } else {
                _v66 = vs[0][0];
                v2 = vs[1][_j3];
                v3 = vs[1][(_j3 + 1) % 8];
                n1 = ns[0][0];
                n2 = ns[1][_j3];
                n3 = ns[1][(_j3 + 1) % 8];
                this.triangle(_v66, v2, v3, n1, n2, n3, color);
              }
            } else if (_i119 == 3) {
              if (this.wireframe) {
                _v66 = vs[4][0];
                v2 = vs[_i119][(_j3 + 1) % 8];
                v3 = vs[_i119][_j3];
                this.line(_v66, v2, color);
                this.line(v2, v3, color);
              } else {
                _v66 = vs[4][0];
                v2 = vs[_i119][(_j3 + 1) % 8];
                v3 = vs[_i119][_j3];
                n1 = ns[4][0];
                n2 = ns[_i119][(_j3 + 1) % 8];
                n3 = ns[_i119][_j3];
                this.triangle(_v66, v2, v3, n1, n2, n3, color);
              }
            } else if (this.wireframe) {
              _v66 = vs[_i119][_j3];
              v2 = vs[_i119][(_j3 + 1) % 8];
              v3 = vs[_i119 + 1][_j3];
              this.line(_v66, v2, color);
              this.line(_v66, v3, color);
            } else {
              _v66 = vs[_i119][_j3];
              v2 = vs[_i119][(_j3 + 1) % 8];
              v3 = vs[_i119 + 1][_j3];
              v4 = vs[_i119 + 1][(_j3 + 1) % 8];
              n1 = ns[_i119][_j3];
              n2 = ns[_i119][(_j3 + 1) % 8];
              n3 = ns[_i119 + 1][_j3];
              n4 = ns[_i119 + 1][(_j3 + 1) % 8];
              this.rect(_v66, v3, v4, v2, n1, n3, n4, n2, color);
            }
          }
        }

        var _this2 = this.p;

        if (o != null) {
          o.zero();

          if (_this2.sizeVec3 == _this2.stackVec3.length) {
            var newArray = new Array(_this2.sizeVec3 << 1);
            var _g262 = 0;
            var _g263 = _this2.sizeVec3;

            while (_g262 < _g263) {
              var _i120 = _g262++;

              newArray[_i120] = _this2.stackVec3[_i120];
              _this2.stackVec3[_i120] = null;
            }

            _this2.stackVec3 = newArray;
          }

          _this2.stackVec3[_this2.sizeVec3++] = o;
        }

        var _this3 = this.p;

        if (m != null) {
          m.e00 = 1;
          m.e01 = 0;
          m.e02 = 0;
          m.e10 = 0;
          m.e11 = 1;
          m.e12 = 0;
          m.e20 = 0;
          m.e21 = 0;
          m.e22 = 1;

          if (_this3.sizeMat3 == _this3.stackMat3.length) {
            var _newArray101 = new Array(_this3.sizeMat3 << 1);

            var _g264 = 0;
            var _g265 = _this3.sizeMat3;

            while (_g264 < _g265) {
              var _i121 = _g264++;

              _newArray101[_i121] = _this3.stackMat3[_i121];
              _this3.stackMat3[_i121] = null;
            }

            _this3.stackMat3 = _newArray101;
          }

          _this3.stackMat3[_this3.sizeMat3++] = m;
        }
      }
    }, {
      key: "box",
      value: function box(tf, halfExtents, color) {
        var _this = this.p;
        var ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
        var _this1 = this.p;
        var ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
        var _this2 = this.p;
        var ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
        var _this3 = this.p;
        var o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
        var _this4 = this.p;
        var m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
        var v = o;
        v.x = tf._positionX;
        v.y = tf._positionY;
        v.z = tf._positionZ;
        var m1 = m;
        m1.e00 = tf._rotation00;
        m1.e01 = tf._rotation01;
        m1.e02 = tf._rotation02;
        m1.e10 = tf._rotation10;
        m1.e11 = tf._rotation11;
        m1.e12 = tf._rotation12;
        m1.e20 = tf._rotation20;
        m1.e21 = tf._rotation21;
        m1.e22 = tf._rotation22;
        ex.init(m.e00, m.e10, m.e20);
        ey.init(m.e01, m.e11, m.e21);
        ez.init(m.e02, m.e12, m.e22);
        var hx = halfExtents.x;
        var hy = halfExtents.y;
        var hz = halfExtents.z;
        var _this5 = this.p;

        var _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];

        _this6.x = o.x;
        _this6.y = o.y;
        _this6.z = o.z;
        var _this7 = _this6;
        var s = -hx;
        _this7.x += ex.x * s;
        _this7.y += ex.y * s;
        _this7.z += ex.z * s;
        var s1 = -hy;
        _this7.x += ey.x * s1;
        _this7.y += ey.y * s1;
        _this7.z += ey.z * s1;
        var s2 = -hz;
        _this7.x += ez.x * s2;
        _this7.y += ez.y * s2;
        _this7.z += ez.z * s2;
        var _this8 = this.p;

        var _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];

        _this9.x = o.x;
        _this9.y = o.y;
        _this9.z = o.z;
        var _this10 = _this9;
        var s3 = -hx;
        _this10.x += ex.x * s3;
        _this10.y += ex.y * s3;
        _this10.z += ex.z * s3;
        var s4 = -hy;
        _this10.x += ey.x * s4;
        _this10.y += ey.y * s4;
        _this10.z += ey.z * s4;
        _this10.x += ez.x * hz;
        _this10.y += ez.y * hz;
        _this10.z += ez.z * hz;
        var _this11 = this.p;

        var _this12 = _this11.sizeVec3 == 0 ? new oimo.common.Vec3() : _this11.stackVec3[--_this11.sizeVec3];

        _this12.x = o.x;
        _this12.y = o.y;
        _this12.z = o.z;
        var _this13 = _this12;
        var s5 = -hx;
        _this13.x += ex.x * s5;
        _this13.y += ex.y * s5;
        _this13.z += ex.z * s5;
        _this13.x += ey.x * hy;
        _this13.y += ey.y * hy;
        _this13.z += ey.z * hy;
        var s6 = -hz;
        _this13.x += ez.x * s6;
        _this13.y += ez.y * s6;
        _this13.z += ez.z * s6;
        var _this14 = this.p;

        var _this15 = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];

        _this15.x = o.x;
        _this15.y = o.y;
        _this15.z = o.z;
        var _this16 = _this15;
        var s7 = -hx;
        _this16.x += ex.x * s7;
        _this16.y += ex.y * s7;
        _this16.z += ex.z * s7;
        _this16.x += ey.x * hy;
        _this16.y += ey.y * hy;
        _this16.z += ey.z * hy;
        _this16.x += ez.x * hz;
        _this16.y += ez.y * hz;
        _this16.z += ez.z * hz;
        var _this17 = this.p;

        var _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];

        _this18.x = o.x;
        _this18.y = o.y;
        _this18.z = o.z;
        var _this19 = _this18;
        _this19.x += ex.x * hx;
        _this19.y += ex.y * hx;
        _this19.z += ex.z * hx;
        var s8 = -hy;
        _this19.x += ey.x * s8;
        _this19.y += ey.y * s8;
        _this19.z += ey.z * s8;
        var s9 = -hz;
        _this19.x += ez.x * s9;
        _this19.y += ez.y * s9;
        _this19.z += ez.z * s9;
        var _this20 = this.p;

        var _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];

        _this21.x = o.x;
        _this21.y = o.y;
        _this21.z = o.z;
        var _this22 = _this21;
        _this22.x += ex.x * hx;
        _this22.y += ex.y * hx;
        _this22.z += ex.z * hx;
        var s10 = -hy;
        _this22.x += ey.x * s10;
        _this22.y += ey.y * s10;
        _this22.z += ey.z * s10;
        _this22.x += ez.x * hz;
        _this22.y += ez.y * hz;
        _this22.z += ez.z * hz;
        var _this23 = this.p;

        var _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];

        _this24.x = o.x;
        _this24.y = o.y;
        _this24.z = o.z;
        var _this25 = _this24;
        _this25.x += ex.x * hx;
        _this25.y += ex.y * hx;
        _this25.z += ex.z * hx;
        _this25.x += ey.x * hy;
        _this25.y += ey.y * hy;
        _this25.z += ey.z * hy;
        var s11 = -hz;
        _this25.x += ez.x * s11;
        _this25.y += ez.y * s11;
        _this25.z += ez.z * s11;
        var _this26 = this.p;

        var _this27 = _this26.sizeVec3 == 0 ? new oimo.common.Vec3() : _this26.stackVec3[--_this26.sizeVec3];

        _this27.x = o.x;
        _this27.y = o.y;
        _this27.z = o.z;
        var _this28 = _this27;
        _this28.x += ex.x * hx;
        _this28.y += ex.y * hx;
        _this28.z += ex.z * hx;
        _this28.x += ey.x * hy;
        _this28.y += ey.y * hy;
        _this28.z += ey.z * hy;
        _this28.x += ez.x * hz;
        _this28.y += ez.y * hz;
        _this28.z += ez.z * hz;

        if (this.wireframe) {
          this.line(_this7, _this10, color);
          this.line(_this13, _this16, color);
          this.line(_this19, _this22, color);
          this.line(_this25, _this28, color);
          this.line(_this7, _this13, color);
          this.line(_this10, _this16, color);
          this.line(_this19, _this25, color);
          this.line(_this22, _this28, color);
          this.line(_this7, _this19, color);
          this.line(_this10, _this22, color);
          this.line(_this13, _this25, color);
          this.line(_this16, _this28, color);
        } else {
          var _this199 = this.p;

          var _this200 = _this199.sizeVec3 == 0 ? new oimo.common.Vec3() : _this199.stackVec3[--_this199.sizeVec3];

          _this200.x = ex.x;
          _this200.y = ex.y;
          _this200.z = ex.z;
          var _this201 = _this200;
          _this201.x = -_this201.x;
          _this201.y = -_this201.y;
          _this201.z = -_this201.z;
          var _this202 = this.p;

          var _this203 = _this202.sizeVec3 == 0 ? new oimo.common.Vec3() : _this202.stackVec3[--_this202.sizeVec3];

          _this203.x = ey.x;
          _this203.y = ey.y;
          _this203.z = ey.z;
          var _this204 = _this203;
          _this204.x = -_this204.x;
          _this204.y = -_this204.y;
          _this204.z = -_this204.z;
          var _this205 = this.p;

          var _this206 = _this205.sizeVec3 == 0 ? new oimo.common.Vec3() : _this205.stackVec3[--_this205.sizeVec3];

          _this206.x = ez.x;
          _this206.y = ez.y;
          _this206.z = ez.z;
          var _this207 = _this206;
          _this207.x = -_this207.x;
          _this207.y = -_this207.y;
          _this207.z = -_this207.z;
          this.rect(_this7, _this10, _this16, _this13, _this201, _this201, _this201, _this201, color);
          this.rect(_this19, _this25, _this28, _this22, ex, ex, ex, ex, color);
          this.rect(_this7, _this19, _this22, _this10, _this204, _this204, _this204, _this204, color);
          this.rect(_this13, _this16, _this28, _this25, ey, ey, ey, ey, color);
          this.rect(_this7, _this13, _this25, _this19, _this207, _this207, _this207, _this207, color);
          this.rect(_this10, _this22, _this28, _this16, ez, ez, ez, ez, color);
          var _this208 = this.p;

          if (_this201 != null) {
            _this201.zero();

            if (_this208.sizeVec3 == _this208.stackVec3.length) {
              var newArray = new Array(_this208.sizeVec3 << 1);
              var _g = 0;
              var _g1 = _this208.sizeVec3;

              while (_g < _g1) {
                var i = _g++;
                newArray[i] = _this208.stackVec3[i];
                _this208.stackVec3[i] = null;
              }

              _this208.stackVec3 = newArray;
            }

            _this208.stackVec3[_this208.sizeVec3++] = _this201;
          }

          var _this209 = this.p;

          if (_this204 != null) {
            _this204.zero();

            if (_this209.sizeVec3 == _this209.stackVec3.length) {
              var _newArray102 = new Array(_this209.sizeVec3 << 1);

              var _g266 = 0;
              var _g267 = _this209.sizeVec3;

              while (_g266 < _g267) {
                var _i122 = _g266++;

                _newArray102[_i122] = _this209.stackVec3[_i122];
                _this209.stackVec3[_i122] = null;
              }

              _this209.stackVec3 = _newArray102;
            }

            _this209.stackVec3[_this209.sizeVec3++] = _this204;
          }

          var _this210 = this.p;

          if (_this207 != null) {
            _this207.zero();

            if (_this210.sizeVec3 == _this210.stackVec3.length) {
              var _newArray103 = new Array(_this210.sizeVec3 << 1);

              var _g268 = 0;
              var _g269 = _this210.sizeVec3;

              while (_g268 < _g269) {
                var _i123 = _g268++;

                _newArray103[_i123] = _this210.stackVec3[_i123];
                _this210.stackVec3[_i123] = null;
              }

              _this210.stackVec3 = _newArray103;
            }

            _this210.stackVec3[_this210.sizeVec3++] = _this207;
          }
        }

        var _this29 = this.p;

        if (_this7 != null) {
          _this7.zero();

          if (_this29.sizeVec3 == _this29.stackVec3.length) {
            var _newArray104 = new Array(_this29.sizeVec3 << 1);

            var _g270 = 0;
            var _g271 = _this29.sizeVec3;

            while (_g270 < _g271) {
              var _i124 = _g270++;

              _newArray104[_i124] = _this29.stackVec3[_i124];
              _this29.stackVec3[_i124] = null;
            }

            _this29.stackVec3 = _newArray104;
          }

          _this29.stackVec3[_this29.sizeVec3++] = _this7;
        }

        var _this30 = this.p;

        if (_this10 != null) {
          _this10.zero();

          if (_this30.sizeVec3 == _this30.stackVec3.length) {
            var _newArray105 = new Array(_this30.sizeVec3 << 1);

            var _g272 = 0;
            var _g273 = _this30.sizeVec3;

            while (_g272 < _g273) {
              var _i125 = _g272++;

              _newArray105[_i125] = _this30.stackVec3[_i125];
              _this30.stackVec3[_i125] = null;
            }

            _this30.stackVec3 = _newArray105;
          }

          _this30.stackVec3[_this30.sizeVec3++] = _this10;
        }

        var _this31 = this.p;

        if (_this13 != null) {
          _this13.zero();

          if (_this31.sizeVec3 == _this31.stackVec3.length) {
            var _newArray106 = new Array(_this31.sizeVec3 << 1);

            var _g274 = 0;
            var _g275 = _this31.sizeVec3;

            while (_g274 < _g275) {
              var _i126 = _g274++;

              _newArray106[_i126] = _this31.stackVec3[_i126];
              _this31.stackVec3[_i126] = null;
            }

            _this31.stackVec3 = _newArray106;
          }

          _this31.stackVec3[_this31.sizeVec3++] = _this13;
        }

        var _this32 = this.p;

        if (_this16 != null) {
          _this16.zero();

          if (_this32.sizeVec3 == _this32.stackVec3.length) {
            var _newArray107 = new Array(_this32.sizeVec3 << 1);

            var _g276 = 0;
            var _g277 = _this32.sizeVec3;

            while (_g276 < _g277) {
              var _i127 = _g276++;

              _newArray107[_i127] = _this32.stackVec3[_i127];
              _this32.stackVec3[_i127] = null;
            }

            _this32.stackVec3 = _newArray107;
          }

          _this32.stackVec3[_this32.sizeVec3++] = _this16;
        }

        var _this33 = this.p;

        if (_this19 != null) {
          _this19.zero();

          if (_this33.sizeVec3 == _this33.stackVec3.length) {
            var _newArray108 = new Array(_this33.sizeVec3 << 1);

            var _g278 = 0;
            var _g279 = _this33.sizeVec3;

            while (_g278 < _g279) {
              var _i128 = _g278++;

              _newArray108[_i128] = _this33.stackVec3[_i128];
              _this33.stackVec3[_i128] = null;
            }

            _this33.stackVec3 = _newArray108;
          }

          _this33.stackVec3[_this33.sizeVec3++] = _this19;
        }

        var _this34 = this.p;

        if (_this22 != null) {
          _this22.zero();

          if (_this34.sizeVec3 == _this34.stackVec3.length) {
            var _newArray109 = new Array(_this34.sizeVec3 << 1);

            var _g280 = 0;
            var _g281 = _this34.sizeVec3;

            while (_g280 < _g281) {
              var _i129 = _g280++;

              _newArray109[_i129] = _this34.stackVec3[_i129];
              _this34.stackVec3[_i129] = null;
            }

            _this34.stackVec3 = _newArray109;
          }

          _this34.stackVec3[_this34.sizeVec3++] = _this22;
        }

        var _this35 = this.p;

        if (_this25 != null) {
          _this25.zero();

          if (_this35.sizeVec3 == _this35.stackVec3.length) {
            var _newArray110 = new Array(_this35.sizeVec3 << 1);

            var _g282 = 0;
            var _g283 = _this35.sizeVec3;

            while (_g282 < _g283) {
              var _i130 = _g282++;

              _newArray110[_i130] = _this35.stackVec3[_i130];
              _this35.stackVec3[_i130] = null;
            }

            _this35.stackVec3 = _newArray110;
          }

          _this35.stackVec3[_this35.sizeVec3++] = _this25;
        }

        var _this36 = this.p;

        if (_this28 != null) {
          _this28.zero();

          if (_this36.sizeVec3 == _this36.stackVec3.length) {
            var _newArray111 = new Array(_this36.sizeVec3 << 1);

            var _g284 = 0;
            var _g285 = _this36.sizeVec3;

            while (_g284 < _g285) {
              var _i131 = _g284++;

              _newArray111[_i131] = _this36.stackVec3[_i131];
              _this36.stackVec3[_i131] = null;
            }

            _this36.stackVec3 = _newArray111;
          }

          _this36.stackVec3[_this36.sizeVec3++] = _this28;
        }

        var _this37 = this.p;

        if (o != null) {
          o.zero();

          if (_this37.sizeVec3 == _this37.stackVec3.length) {
            var _newArray112 = new Array(_this37.sizeVec3 << 1);

            var _g286 = 0;
            var _g287 = _this37.sizeVec3;

            while (_g286 < _g287) {
              var _i132 = _g286++;

              _newArray112[_i132] = _this37.stackVec3[_i132];
              _this37.stackVec3[_i132] = null;
            }

            _this37.stackVec3 = _newArray112;
          }

          _this37.stackVec3[_this37.sizeVec3++] = o;
        }

        var _this38 = this.p;

        if (m != null) {
          m.e00 = 1;
          m.e01 = 0;
          m.e02 = 0;
          m.e10 = 0;
          m.e11 = 1;
          m.e12 = 0;
          m.e20 = 0;
          m.e21 = 0;
          m.e22 = 1;

          if (_this38.sizeMat3 == _this38.stackMat3.length) {
            var _newArray113 = new Array(_this38.sizeMat3 << 1);

            var _g288 = 0;
            var _g289 = _this38.sizeMat3;

            while (_g288 < _g289) {
              var _i133 = _g288++;

              _newArray113[_i133] = _this38.stackMat3[_i133];
              _this38.stackMat3[_i133] = null;
            }

            _this38.stackMat3 = _newArray113;
          }

          _this38.stackMat3[_this38.sizeMat3++] = m;
        }

        var _this39 = this.p;

        if (ex != null) {
          ex.zero();

          if (_this39.sizeVec3 == _this39.stackVec3.length) {
            var _newArray114 = new Array(_this39.sizeVec3 << 1);

            var _g290 = 0;
            var _g291 = _this39.sizeVec3;

            while (_g290 < _g291) {
              var _i134 = _g290++;

              _newArray114[_i134] = _this39.stackVec3[_i134];
              _this39.stackVec3[_i134] = null;
            }

            _this39.stackVec3 = _newArray114;
          }

          _this39.stackVec3[_this39.sizeVec3++] = ex;
        }

        var _this40 = this.p;

        if (ey != null) {
          ey.zero();

          if (_this40.sizeVec3 == _this40.stackVec3.length) {
            var _newArray115 = new Array(_this40.sizeVec3 << 1);

            var _g292 = 0;
            var _g293 = _this40.sizeVec3;

            while (_g292 < _g293) {
              var _i135 = _g292++;

              _newArray115[_i135] = _this40.stackVec3[_i135];
              _this40.stackVec3[_i135] = null;
            }

            _this40.stackVec3 = _newArray115;
          }

          _this40.stackVec3[_this40.sizeVec3++] = ey;
        }

        var _this41 = this.p;

        if (ez != null) {
          ez.zero();

          if (_this41.sizeVec3 == _this41.stackVec3.length) {
            var _newArray116 = new Array(_this41.sizeVec3 << 1);

            var _g294 = 0;
            var _g295 = _this41.sizeVec3;

            while (_g294 < _g295) {
              var _i136 = _g294++;

              _newArray116[_i136] = _this41.stackVec3[_i136];
              _this41.stackVec3[_i136] = null;
            }

            _this41.stackVec3 = _newArray116;
          }

          _this41.stackVec3[_this41.sizeVec3++] = ez;
        }
      }
    }, {
      key: "rect",
      value: function rect(v1, v2, v3, v4, n1, n2, n3, n4, color) {
        this.triangle(v1, v2, v3, n1, n2, n3, color);
        this.triangle(v1, v3, v4, n1, n3, n4, color);
      }
    }, {
      key: "point",
      value: function point(v, color) {}
    }, {
      key: "triangle",
      value: function triangle(v1, v2, v3, n1, n2, n3, color) {}
    }, {
      key: "line",
      value: function line(v1, v2, color) {}
    }]);

    return oimo_dynamics_common_DebugDraw;
  }();

  oimo.dynamics.common.DebugDrawStyle = /*#__PURE__*/_createClass(function oimo_dynamics_common_DebugDrawStyle() {
    _classCallCheck(this, oimo_dynamics_common_DebugDrawStyle);

    this.basisColorZ = new oimo.common.Vec3(0.0, 0.0, 1.0);
    this.basisColorY = new oimo.common.Vec3(0.0, 1.0, 0.0);
    this.basisColorX = new oimo.common.Vec3(1.0, 0.0, 0.0);
    this.basisLength = 0.5;
    this.jointRotationalConstraintRadius = 0.3;
    this.jointErrorColor = new oimo.common.Vec3(1.0, 0.1, 0.1);
    this.jointLineColor = new oimo.common.Vec3(0.8, 0.8, 0.8);
    this.contactBinormalLength = 0.5;
    this.contactTangentLength = 0.5;
    this.contactNormalLength = 0.5;
    this.contactBinormalColor = new oimo.common.Vec3(0.2, 0.2, 1.0);
    this.contactTangentColor = new oimo.common.Vec3(0.1, 0.8, 0.1);
    this.contactNormalColor = new oimo.common.Vec3(1.0, 0.1, 0.1);
    this.disabledContactColor = new oimo.common.Vec3(0.5, 0.1, 0.1);
    this.newContactColor = new oimo.common.Vec3(1.0, 1.0, 0.1);
    this.contactColor4 = new oimo.common.Vec3(0.8, 0.1, 1.0);
    this.contactColor3 = new oimo.common.Vec3(0.1, 0.8, 0.6);
    this.contactColor2 = new oimo.common.Vec3(1.0, 0.6, 0.1);
    this.contactColor = new oimo.common.Vec3(1.0, 0.1, 0.1);
    this.pairColor = new oimo.common.Vec3(1.0, 1.0, 0.1);
    this.bvhNodeColor = new oimo.common.Vec3(0.4, 0.4, 0.4);
    this.aabbColor = new oimo.common.Vec3(1.0, 0.1, 0.1);
    this.kinematicShapeColor = new oimo.common.Vec3(1.0, 0.5, 0.1);
    this.staticShapeColor = new oimo.common.Vec3(0.7, 0.7, 0.7);
    this.sleepingShapeColor2 = new oimo.common.Vec3(0.2, 0.8, 0.5);
    this.sleepingShapeColor1 = new oimo.common.Vec3(0.3, 0.3, 0.8);
    this.sleepyShapeColor2 = new oimo.common.Vec3(0.6, 0.8, 0.3);
    this.sleepyShapeColor1 = new oimo.common.Vec3(0.5, 0.25, 0.6);
    this.shapeColor2 = new oimo.common.Vec3(1.0, 0.8, 0.1);
    this.shapeColor1 = new oimo.common.Vec3(0.7, 0.2, 0.4);
  });
  oimo.dynamics.common.Performance = /*#__PURE__*/_createClass(function oimo_dynamics_common_Performance() {
    _classCallCheck(this, oimo_dynamics_common_Performance);
  });
  if (!oimo.dynamics.constraint) oimo.dynamics.constraint = {};

  oimo.dynamics.constraint.ConstraintSolver = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_ConstraintSolver() {
      _classCallCheck(this, oimo_dynamics_constraint_ConstraintSolver);

      this._b1 = null;
      this._b2 = null;
      this._addedToIsland = false;
    }

    _createClass(oimo_dynamics_constraint_ConstraintSolver, [{
      key: "preSolveVelocity",
      value: function preSolveVelocity(timeStep) {}
    }, {
      key: "warmStart",
      value: function warmStart(timeStep) {}
    }, {
      key: "solveVelocity",
      value: function solveVelocity() {}
    }, {
      key: "postSolveVelocity",
      value: function postSolveVelocity(timeStep) {}
    }, {
      key: "preSolvePosition",
      value: function preSolvePosition(timeStep) {}
    }, {
      key: "solvePositionSplitImpulse",
      value: function solvePositionSplitImpulse() {}
    }, {
      key: "solvePositionNgs",
      value: function solvePositionNgs(timeStep) {}
    }, {
      key: "postSolve",
      value: function postSolve() {}
    }]);

    return oimo_dynamics_constraint_ConstraintSolver;
  }();

  oimo.dynamics.constraint.PositionCorrectionAlgorithm = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_PositionCorrectionAlgorithm() {
    _classCallCheck(this, oimo_dynamics_constraint_PositionCorrectionAlgorithm);
  });
  if (!oimo.dynamics.constraint.contact) oimo.dynamics.constraint.contact = {};

  oimo.dynamics.constraint.contact.ContactConstraint = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_contact_ContactConstraint(manifold) {
      _classCallCheck(this, oimo_dynamics_constraint_contact_ContactConstraint);

      this._solver = new oimo.dynamics.constraint.solver.pgs.PgsContactConstraintSolver(this);
      this._manifold = manifold;
    }

    _createClass(oimo_dynamics_constraint_contact_ContactConstraint, [{
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        info.b1 = this._b1;
        info.b2 = this._b2;
        var normalX;
        var normalY;
        var normalZ;
        var tangentX;
        var tangentY;
        var tangentZ;
        var binormalX;
        var binormalY;
        var binormalZ;
        normalX = this._manifold._normalX;
        normalY = this._manifold._normalY;
        normalZ = this._manifold._normalZ;
        tangentX = this._manifold._tangentX;
        tangentY = this._manifold._tangentY;
        tangentZ = this._manifold._tangentZ;
        binormalX = this._manifold._binormalX;
        binormalY = this._manifold._binormalY;
        binormalZ = this._manifold._binormalZ;
        var friction = Math.sqrt(this._s1._friction * this._s2._friction);
        var restitution = Math.sqrt(this._s1._restitution * this._s2._restitution);
        var num = this._manifold._numPoints;
        info.numRows = 0;
        var _g = 0;

        while (_g < num) {
          var p = this._manifold._points[_g++];

          if (p._depth < 0) {
            p._disabled = true;
            var _this = p._impulse;
            _this.impulseN = 0;
            _this.impulseT = 0;
            _this.impulseB = 0;
            _this.impulseP = 0;
            _this.impulseLX = 0;
            _this.impulseLY = 0;
            _this.impulseLZ = 0;
            continue;
          } else {
            p._disabled = false;
          }

          var row = info.rows[info.numRows++];
          row.friction = friction;
          row.cfm = 0;
          var j = row.jacobianN;
          j.lin1X = normalX;
          j.lin1Y = normalY;
          j.lin1Z = normalZ;
          j.lin2X = normalX;
          j.lin2Y = normalY;
          j.lin2Z = normalZ;
          j.ang1X = p._relPos1Y * normalZ - p._relPos1Z * normalY;
          j.ang1Y = p._relPos1Z * normalX - p._relPos1X * normalZ;
          j.ang1Z = p._relPos1X * normalY - p._relPos1Y * normalX;
          j.ang2X = p._relPos2Y * normalZ - p._relPos2Z * normalY;
          j.ang2Y = p._relPos2Z * normalX - p._relPos2X * normalZ;
          j.ang2Z = p._relPos2X * normalY - p._relPos2Y * normalX;
          j = row.jacobianT;
          j.lin1X = tangentX;
          j.lin1Y = tangentY;
          j.lin1Z = tangentZ;
          j.lin2X = tangentX;
          j.lin2Y = tangentY;
          j.lin2Z = tangentZ;
          j.ang1X = p._relPos1Y * tangentZ - p._relPos1Z * tangentY;
          j.ang1Y = p._relPos1Z * tangentX - p._relPos1X * tangentZ;
          j.ang1Z = p._relPos1X * tangentY - p._relPos1Y * tangentX;
          j.ang2X = p._relPos2Y * tangentZ - p._relPos2Z * tangentY;
          j.ang2Y = p._relPos2Z * tangentX - p._relPos2X * tangentZ;
          j.ang2Z = p._relPos2X * tangentY - p._relPos2Y * tangentX;
          j = row.jacobianB;
          j.lin1X = binormalX;
          j.lin1Y = binormalY;
          j.lin1Z = binormalZ;
          j.lin2X = binormalX;
          j.lin2Y = binormalY;
          j.lin2Z = binormalZ;
          j.ang1X = p._relPos1Y * binormalZ - p._relPos1Z * binormalY;
          j.ang1Y = p._relPos1Z * binormalX - p._relPos1X * binormalZ;
          j.ang1Z = p._relPos1X * binormalY - p._relPos1Y * binormalX;
          j.ang2X = p._relPos2Y * binormalZ - p._relPos2Z * binormalY;
          j.ang2Y = p._relPos2Z * binormalX - p._relPos2X * binormalZ;
          j.ang2Z = p._relPos2X * binormalY - p._relPos2Y * binormalX;
          j = row.jacobianN;
          var rvn = j.lin1X * this._b1._velX + j.lin1Y * this._b1._velY + j.lin1Z * this._b1._velZ + (j.ang1X * this._b1._angVelX + j.ang1Y * this._b1._angVelY + j.ang1Z * this._b1._angVelZ) - (j.lin2X * this._b2._velX + j.lin2Y * this._b2._velY + j.lin2Z * this._b2._velZ + (j.ang2X * this._b2._angVelX + j.ang2Y * this._b2._angVelY + j.ang2Z * this._b2._angVelZ));

          if (rvn < -oimo.common.Setting.contactEnableBounceThreshold && !p._warmStarted) {
            row.rhs = -rvn * restitution;
          } else {
            row.rhs = 0;
          }

          if (this._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE) {
            if (p._depth > oimo.common.Setting.linearSlop) {
              var minRhs = (p._depth - oimo.common.Setting.linearSlop) * oimo.common.Setting.velocityBaumgarte * timeStep.invDt;

              if (row.rhs < minRhs) {
                row.rhs = minRhs;
              }
            }
          }

          if (!p._warmStarted) {
            var _this211 = p._impulse;
            _this211.impulseN = 0;
            _this211.impulseT = 0;
            _this211.impulseB = 0;
            _this211.impulseP = 0;
            _this211.impulseLX = 0;
            _this211.impulseLY = 0;
            _this211.impulseLZ = 0;
          }

          row.impulse = p._impulse;
        }
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        info.b1 = this._b1;
        info.b2 = this._b2;
        var normalX;
        var normalY;
        var normalZ;
        normalX = this._manifold._normalX;
        normalY = this._manifold._normalY;
        normalZ = this._manifold._normalZ;
        var num = this._manifold._numPoints;
        info.numRows = 0;
        var _g = 0;

        while (_g < num) {
          var p = this._manifold._points[_g++];

          if (p._disabled) {
            continue;
          }

          var row = info.rows[info.numRows++];
          var j = row.jacobianN;
          j.lin1X = normalX;
          j.lin1Y = normalY;
          j.lin1Z = normalZ;
          j.lin2X = normalX;
          j.lin2Y = normalY;
          j.lin2Z = normalZ;
          j.ang1X = p._relPos1Y * normalZ - p._relPos1Z * normalY;
          j.ang1Y = p._relPos1Z * normalX - p._relPos1X * normalZ;
          j.ang1Z = p._relPos1X * normalY - p._relPos1Y * normalX;
          j.ang2X = p._relPos2Y * normalZ - p._relPos2Z * normalY;
          j.ang2Y = p._relPos2Z * normalX - p._relPos2X * normalZ;
          j.ang2Z = p._relPos2X * normalY - p._relPos2Y * normalX;
          row.rhs = p._depth - oimo.common.Setting.linearSlop;

          if (row.rhs < 0) {
            row.rhs = 0;
          }

          row.impulse = p._impulse;
        }
      }
    }, {
      key: "_syncManifold",
      value: function _syncManifold() {
        this._manifold._updateDepthsAndPositions(this._tf1, this._tf2);
      }
    }, {
      key: "getShape1",
      value: function getShape1() {
        return this._s1;
      }
    }, {
      key: "getShape2",
      value: function getShape2() {
        return this._s2;
      }
    }, {
      key: "getManifold",
      value: function getManifold() {
        return this._manifold;
      }
    }, {
      key: "isTouching",
      value: function isTouching() {
        var _g = 0;
        var _g1 = this._manifold._numPoints;

        while (_g < _g1) {
          if (this._manifold._points[_g++]._depth >= 0) {
            return true;
          }
        }

        return false;
      }
    }]);

    return oimo_dynamics_constraint_contact_ContactConstraint;
  }();

  oimo.dynamics.constraint.contact.ContactImpulse = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_contact_ContactImpulse() {
      _classCallCheck(this, oimo_dynamics_constraint_contact_ContactImpulse);

      this.impulseN = 0;
      this.impulseT = 0;
      this.impulseB = 0;
      this.impulseP = 0;
      this.impulseLX = 0;
      this.impulseLY = 0;
      this.impulseLZ = 0;
    }

    _createClass(oimo_dynamics_constraint_contact_ContactImpulse, [{
      key: "copyFrom",
      value: function copyFrom(imp) {
        this.impulseN = imp.impulseN;
        this.impulseT = imp.impulseT;
        this.impulseB = imp.impulseB;
        this.impulseLX = imp.impulseLX;
        this.impulseLY = imp.impulseLY;
        this.impulseLZ = imp.impulseLZ;
      }
    }]);

    return oimo_dynamics_constraint_contact_ContactImpulse;
  }();

  oimo.dynamics.constraint.contact.Manifold = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_contact_Manifold() {
      _classCallCheck(this, oimo_dynamics_constraint_contact_Manifold);

      this._normalX = 0;
      this._normalY = 0;
      this._normalZ = 0;
      this._tangentX = 0;
      this._tangentY = 0;
      this._tangentZ = 0;
      this._binormalX = 0;
      this._binormalY = 0;
      this._binormalZ = 0;
      this._numPoints = 0;
      this._points = new Array(oimo.common.Setting.maxManifoldPoints);
      var _g = 0;
      var _g1 = oimo.common.Setting.maxManifoldPoints;

      while (_g < _g1) {
        this._points[_g++] = new oimo.dynamics.constraint.contact.ManifoldPoint();
      }
    }

    _createClass(oimo_dynamics_constraint_contact_Manifold, [{
      key: "_clear",
      value: function _clear() {
        var _g = 0;
        var _g1 = this._numPoints;

        while (_g < _g1) {
          var _this = this._points[_g++];
          _this._localPos1X = 0;
          _this._localPos1Y = 0;
          _this._localPos1Z = 0;
          _this._localPos2X = 0;
          _this._localPos2Y = 0;
          _this._localPos2Z = 0;
          _this._relPos1X = 0;
          _this._relPos1Y = 0;
          _this._relPos1Z = 0;
          _this._relPos2X = 0;
          _this._relPos2Y = 0;
          _this._relPos2Z = 0;
          _this._pos1X = 0;
          _this._pos1Y = 0;
          _this._pos1Z = 0;
          _this._pos2X = 0;
          _this._pos2Y = 0;
          _this._pos2Z = 0;
          _this._depth = 0;
          var _this1 = _this._impulse;
          _this1.impulseN = 0;
          _this1.impulseT = 0;
          _this1.impulseB = 0;
          _this1.impulseP = 0;
          _this1.impulseLX = 0;
          _this1.impulseLY = 0;
          _this1.impulseLZ = 0;
          _this._warmStarted = false;
          _this._disabled = false;
          _this._id = -1;
        }

        this._numPoints = 0;
      }
    }, {
      key: "_buildBasis",
      value: function _buildBasis(normal) {
        this._normalX = normal.x;
        this._normalY = normal.y;
        this._normalZ = normal.z;
        var nx = normal.x;
        var ny = normal.y;
        var nz = normal.z;
        var nx2 = nx * nx;
        var ny2 = ny * ny;
        var nz2 = nz * nz;
        var tx;
        var ty;
        var tz;
        var bx;
        var by;
        var bz;

        if (nx2 < ny2) {
          if (nx2 < nz2) {
            var invL = 1 / Math.sqrt(ny2 + nz2);
            tx = 0;
            ty = -nz * invL;
            tz = ny * invL;
            bx = ny * tz - nz * ty;
            by = -nx * tz;
            bz = nx * ty;
          } else {
            var _invL = 1 / Math.sqrt(nx2 + ny2);

            tx = -ny * _invL;
            ty = nx * _invL;
            tz = 0;
            bx = -nz * ty;
            by = nz * tx;
            bz = nx * ty - ny * tx;
          }
        } else if (ny2 < nz2) {
          var _invL2 = 1 / Math.sqrt(nx2 + nz2);

          tx = nz * _invL2;
          ty = 0;
          tz = -nx * _invL2;
          bx = ny * tz;
          by = nz * tx - nx * tz;
          bz = -ny * tx;
        } else {
          var _invL3 = 1 / Math.sqrt(nx2 + ny2);

          tx = -ny * _invL3;
          ty = nx * _invL3;
          tz = 0;
          bx = -nz * ty;
          by = nz * tx;
          bz = nx * ty - ny * tx;
        }

        this._tangentX = tx;
        this._tangentY = ty;
        this._tangentZ = tz;
        this._binormalX = bx;
        this._binormalY = by;
        this._binormalZ = bz;
      }
    }, {
      key: "_updateDepthsAndPositions",
      value: function _updateDepthsAndPositions(tf1, tf2) {
        var _g = 0;
        var _g1 = this._numPoints;

        while (_g < _g1) {
          var p = this._points[_g++];

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * p._localPos1X + tf1._rotation01 * p._localPos1Y + tf1._rotation02 * p._localPos1Z;
          __tmp__Y = tf1._rotation10 * p._localPos1X + tf1._rotation11 * p._localPos1Y + tf1._rotation12 * p._localPos1Z;
          __tmp__Z = tf1._rotation20 * p._localPos1X + tf1._rotation21 * p._localPos1Y + tf1._rotation22 * p._localPos1Z;
          p._relPos1X = __tmp__X;
          p._relPos1Y = __tmp__Y;
          p._relPos1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * p._localPos2X + tf2._rotation01 * p._localPos2Y + tf2._rotation02 * p._localPos2Z;
          __tmp__Y1 = tf2._rotation10 * p._localPos2X + tf2._rotation11 * p._localPos2Y + tf2._rotation12 * p._localPos2Z;
          __tmp__Z1 = tf2._rotation20 * p._localPos2X + tf2._rotation21 * p._localPos2Y + tf2._rotation22 * p._localPos2Z;
          p._relPos2X = __tmp__X1;
          p._relPos2Y = __tmp__Y1;
          p._relPos2Z = __tmp__Z1;
          p._pos1X = p._relPos1X + tf1._positionX;
          p._pos1Y = p._relPos1Y + tf1._positionY;
          p._pos1Z = p._relPos1Z + tf1._positionZ;
          p._pos2X = p._relPos2X + tf2._positionX;
          p._pos2Y = p._relPos2Y + tf2._positionY;
          p._pos2Z = p._relPos2Z + tf2._positionZ;
          var diffX = void 0;
          var diffY = void 0;
          var diffZ = void 0;
          diffX = p._pos1X - p._pos2X;
          diffY = p._pos1Y - p._pos2Y;
          diffZ = p._pos1Z - p._pos2Z;
          p._depth = -(diffX * this._normalX + diffY * this._normalY + diffZ * this._normalZ);
        }
      }
    }, {
      key: "getNormal",
      value: function getNormal() {
        var v = new oimo.common.Vec3();
        v.x = this._normalX;
        v.y = this._normalY;
        v.z = this._normalZ;
        return v;
      }
    }, {
      key: "getNormalTo",
      value: function getNormalTo(normal) {
        normal.x = this._normalX;
        normal.y = this._normalY;
        normal.z = this._normalZ;
      }
    }, {
      key: "getTangent",
      value: function getTangent() {
        var v = new oimo.common.Vec3();
        v.x = this._tangentX;
        v.y = this._tangentY;
        v.z = this._tangentZ;
        return v;
      }
    }, {
      key: "getTangentTo",
      value: function getTangentTo(tangent) {
        tangent.x = this._tangentX;
        tangent.y = this._tangentY;
        tangent.z = this._tangentZ;
      }
    }, {
      key: "getBinormal",
      value: function getBinormal() {
        var v = new oimo.common.Vec3();
        v.x = this._binormalX;
        v.y = this._binormalY;
        v.z = this._binormalZ;
        return v;
      }
    }, {
      key: "getBinormalTo",
      value: function getBinormalTo(binormal) {
        binormal.x = this._binormalX;
        binormal.y = this._binormalY;
        binormal.z = this._binormalZ;
      }
    }, {
      key: "getPoints",
      value: function getPoints() {
        return this._points;
      }
    }, {
      key: "getNumPoints",
      value: function getNumPoints() {
        return this._numPoints;
      }
    }]);

    return oimo_dynamics_constraint_contact_Manifold;
  }();

  oimo.dynamics.constraint.contact.ManifoldPoint = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_contact_ManifoldPoint() {
      _classCallCheck(this, oimo_dynamics_constraint_contact_ManifoldPoint);

      this._localPos1X = 0;
      this._localPos1Y = 0;
      this._localPos1Z = 0;
      this._localPos2X = 0;
      this._localPos2Y = 0;
      this._localPos2Z = 0;
      this._relPos1X = 0;
      this._relPos1Y = 0;
      this._relPos1Z = 0;
      this._relPos2X = 0;
      this._relPos2Y = 0;
      this._relPos2Z = 0;
      this._pos1X = 0;
      this._pos1Y = 0;
      this._pos1Z = 0;
      this._pos2X = 0;
      this._pos2Y = 0;
      this._pos2Z = 0;
      this._depth = 0;
      this._impulse = new oimo.dynamics.constraint.contact.ContactImpulse();
      this._warmStarted = false;
      this._disabled = false;
      this._id = -1;
    }

    _createClass(oimo_dynamics_constraint_contact_ManifoldPoint, [{
      key: "getPosition1",
      value: function getPosition1() {
        var v = new oimo.common.Vec3();
        v.x = this._pos1X;
        v.y = this._pos1Y;
        v.z = this._pos1Z;
        return v;
      }
    }, {
      key: "getPosition1To",
      value: function getPosition1To(position) {
        position.x = this._pos1X;
        position.y = this._pos1Y;
        position.z = this._pos1Z;
      }
    }, {
      key: "getPosition2",
      value: function getPosition2() {
        var v = new oimo.common.Vec3();
        v.x = this._pos2X;
        v.y = this._pos2Y;
        v.z = this._pos2Z;
        return v;
      }
    }, {
      key: "getPosition2To",
      value: function getPosition2To(position) {
        position.x = this._pos2X;
        position.y = this._pos2Y;
        position.z = this._pos2Z;
      }
    }, {
      key: "getDepth",
      value: function getDepth() {
        return this._depth;
      }
    }, {
      key: "isWarmStarted",
      value: function isWarmStarted() {
        return this._warmStarted;
      }
    }, {
      key: "getNormalImpulse",
      value: function getNormalImpulse() {
        return this._impulse.impulseN;
      }
    }, {
      key: "getTangentImpulse",
      value: function getTangentImpulse() {
        return this._impulse.impulseT;
      }
    }, {
      key: "getBinormalImpulse",
      value: function getBinormalImpulse() {
        return this._impulse.impulseB;
      }
    }, {
      key: "isEnabled",
      value: function isEnabled() {
        return !this._disabled;
      }
    }]);

    return oimo_dynamics_constraint_contact_ManifoldPoint;
  }();

  oimo.dynamics.constraint.contact.ManifoldUpdater = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_contact_ManifoldUpdater(manifold) {
      _classCallCheck(this, oimo_dynamics_constraint_contact_ManifoldUpdater);

      this._manifold = manifold;
      this.numOldPoints = 0;
      this.oldPoints = new Array(oimo.common.Setting.maxManifoldPoints);
      var _g = 0;
      var _g1 = oimo.common.Setting.maxManifoldPoints;

      while (_g < _g1) {
        this.oldPoints[_g++] = new oimo.dynamics.constraint.contact.ManifoldPoint();
      }
    }

    _createClass(oimo_dynamics_constraint_contact_ManifoldUpdater, [{
      key: "removeOutdatedPoints",
      value: function removeOutdatedPoints() {
        var index = this._manifold._numPoints;

        while (--index >= 0) {
          var p = this._manifold._points[index];
          var diffX = void 0;
          var diffY = void 0;
          var diffZ = void 0;
          diffX = p._pos1X - p._pos2X;
          diffY = p._pos1Y - p._pos2Y;
          diffZ = p._pos1Z - p._pos2Z;
          var dotN = this._manifold._normalX * diffX + this._manifold._normalY * diffY + this._manifold._normalZ * diffZ;

          if (dotN > oimo.common.Setting.contactPersistenceThreshold) {
            this.removeManifoldPoint(index);
            continue;
          }

          diffX += this._manifold._normalX * -dotN;
          diffY += this._manifold._normalY * -dotN;
          diffZ += this._manifold._normalZ * -dotN;

          if (diffX * diffX + diffY * diffY + diffZ * diffZ > oimo.common.Setting.contactPersistenceThreshold * oimo.common.Setting.contactPersistenceThreshold) {
            this.removeManifoldPoint(index);
            continue;
          }
        }
      }
    }, {
      key: "removeManifoldPoint",
      value: function removeManifoldPoint(index) {
        var lastIndex = --this._manifold._numPoints;

        if (index != lastIndex) {
          var tmp = this._manifold._points[index];
          this._manifold._points[index] = this._manifold._points[lastIndex];
          this._manifold._points[lastIndex] = tmp;
        }

        var _this = this._manifold._points[lastIndex];
        _this._localPos1X = 0;
        _this._localPos1Y = 0;
        _this._localPos1Z = 0;
        _this._localPos2X = 0;
        _this._localPos2Y = 0;
        _this._localPos2Z = 0;
        _this._relPos1X = 0;
        _this._relPos1Y = 0;
        _this._relPos1Z = 0;
        _this._relPos2X = 0;
        _this._relPos2Y = 0;
        _this._relPos2Z = 0;
        _this._pos1X = 0;
        _this._pos1Y = 0;
        _this._pos1Z = 0;
        _this._pos2X = 0;
        _this._pos2Y = 0;
        _this._pos2Z = 0;
        _this._depth = 0;
        var _this1 = _this._impulse;
        _this1.impulseN = 0;
        _this1.impulseT = 0;
        _this1.impulseB = 0;
        _this1.impulseP = 0;
        _this1.impulseLX = 0;
        _this1.impulseLY = 0;
        _this1.impulseLZ = 0;
        _this._warmStarted = false;
        _this._disabled = false;
        _this._id = -1;
      }
    }, {
      key: "addManifoldPoint",
      value: function addManifoldPoint(point, tf1, tf2) {
        var num = this._manifold._numPoints;

        if (num == oimo.common.Setting.maxManifoldPoints) {
          var targetIndex = this.computeTargetIndex(point, tf1, tf2);
          var _this212 = this._manifold._points[targetIndex];
          var _v67 = point.position1;
          _this212._pos1X = _v67.x;
          _this212._pos1Y = _v67.y;
          _this212._pos1Z = _v67.z;
          var _v68 = point.position2;
          _this212._pos2X = _v68.x;
          _this212._pos2Y = _v68.y;
          _this212._pos2Z = _v68.z;
          _this212._relPos1X = _this212._pos1X - tf1._positionX;
          _this212._relPos1Y = _this212._pos1Y - tf1._positionY;
          _this212._relPos1Z = _this212._pos1Z - tf1._positionZ;
          _this212._relPos2X = _this212._pos2X - tf2._positionX;
          _this212._relPos2Y = _this212._pos2Y - tf2._positionY;
          _this212._relPos2Z = _this212._pos2Z - tf2._positionZ;

          var _tmp__X8;

          var _tmp__Y8;

          var _tmp__Z8;

          _tmp__X8 = tf1._rotation00 * _this212._relPos1X + tf1._rotation10 * _this212._relPos1Y + tf1._rotation20 * _this212._relPos1Z;
          _tmp__Y8 = tf1._rotation01 * _this212._relPos1X + tf1._rotation11 * _this212._relPos1Y + tf1._rotation21 * _this212._relPos1Z;
          _tmp__Z8 = tf1._rotation02 * _this212._relPos1X + tf1._rotation12 * _this212._relPos1Y + tf1._rotation22 * _this212._relPos1Z;
          _this212._localPos1X = _tmp__X8;
          _this212._localPos1Y = _tmp__Y8;
          _this212._localPos1Z = _tmp__Z8;

          var _tmp__X9;

          var _tmp__Y9;

          var _tmp__Z9;

          _tmp__X9 = tf2._rotation00 * _this212._relPos2X + tf2._rotation10 * _this212._relPos2Y + tf2._rotation20 * _this212._relPos2Z;
          _tmp__Y9 = tf2._rotation01 * _this212._relPos2X + tf2._rotation11 * _this212._relPos2Y + tf2._rotation21 * _this212._relPos2Z;
          _tmp__Z9 = tf2._rotation02 * _this212._relPos2X + tf2._rotation12 * _this212._relPos2Y + tf2._rotation22 * _this212._relPos2Z;
          _this212._localPos2X = _tmp__X9;
          _this212._localPos2Y = _tmp__Y9;
          _this212._localPos2Z = _tmp__Z9;
          _this212._depth = point.depth;
          var _this213 = _this212._impulse;
          _this213.impulseN = 0;
          _this213.impulseT = 0;
          _this213.impulseB = 0;
          _this213.impulseP = 0;
          _this213.impulseLX = 0;
          _this213.impulseLY = 0;
          _this213.impulseLZ = 0;
          _this212._id = point.id;
          _this212._warmStarted = false;
          _this212._disabled = false;
          return;
        }

        var _this = this._manifold._points[num];
        var v = point.position1;
        _this._pos1X = v.x;
        _this._pos1Y = v.y;
        _this._pos1Z = v.z;
        var v1 = point.position2;
        _this._pos2X = v1.x;
        _this._pos2Y = v1.y;
        _this._pos2Z = v1.z;
        _this._relPos1X = _this._pos1X - tf1._positionX;
        _this._relPos1Y = _this._pos1Y - tf1._positionY;
        _this._relPos1Z = _this._pos1Z - tf1._positionZ;
        _this._relPos2X = _this._pos2X - tf2._positionX;
        _this._relPos2Y = _this._pos2Y - tf2._positionY;
        _this._relPos2Z = _this._pos2Z - tf2._positionZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf1._rotation00 * _this._relPos1X + tf1._rotation10 * _this._relPos1Y + tf1._rotation20 * _this._relPos1Z;
        __tmp__Y = tf1._rotation01 * _this._relPos1X + tf1._rotation11 * _this._relPos1Y + tf1._rotation21 * _this._relPos1Z;
        __tmp__Z = tf1._rotation02 * _this._relPos1X + tf1._rotation12 * _this._relPos1Y + tf1._rotation22 * _this._relPos1Z;
        _this._localPos1X = __tmp__X;
        _this._localPos1Y = __tmp__Y;
        _this._localPos1Z = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = tf2._rotation00 * _this._relPos2X + tf2._rotation10 * _this._relPos2Y + tf2._rotation20 * _this._relPos2Z;
        __tmp__Y1 = tf2._rotation01 * _this._relPos2X + tf2._rotation11 * _this._relPos2Y + tf2._rotation21 * _this._relPos2Z;
        __tmp__Z1 = tf2._rotation02 * _this._relPos2X + tf2._rotation12 * _this._relPos2Y + tf2._rotation22 * _this._relPos2Z;
        _this._localPos2X = __tmp__X1;
        _this._localPos2Y = __tmp__Y1;
        _this._localPos2Z = __tmp__Z1;
        _this._depth = point.depth;
        var _this1 = _this._impulse;
        _this1.impulseN = 0;
        _this1.impulseT = 0;
        _this1.impulseB = 0;
        _this1.impulseP = 0;
        _this1.impulseLX = 0;
        _this1.impulseLY = 0;
        _this1.impulseLZ = 0;
        _this._id = point.id;
        _this._warmStarted = false;
        _this._disabled = false;
        this._manifold._numPoints++;
      }
    }, {
      key: "computeTargetIndex",
      value: function computeTargetIndex(newPoint, tf1, tf2) {
        var p1 = this._manifold._points[0];
        var p2 = this._manifold._points[1];
        var p3 = this._manifold._points[2];
        var p4 = this._manifold._points[3];
        var maxDepth = p1._depth;
        var maxDepthIndex = 0;

        if (p2._depth > maxDepth) {
          maxDepth = p2._depth;
          maxDepthIndex = 1;
        }

        if (p3._depth > maxDepth) {
          maxDepth = p3._depth;
          maxDepthIndex = 2;
        }

        if (p4._depth > maxDepth) {
          maxDepthIndex = 3;
        }

        var rp1X;
        var rp1Y;
        var rp1Z;
        var v = newPoint.position1;
        rp1X = v.x;
        rp1Y = v.y;
        rp1Z = v.z;
        rp1X -= tf1._positionX;
        rp1Y -= tf1._positionY;
        rp1Z -= tf1._positionZ;
        var p1X = p2._relPos1X;
        var p1Y = p2._relPos1Y;
        var p1Z = p2._relPos1Z;
        var p2X = p3._relPos1X;
        var p2Y = p3._relPos1Y;
        var p2Z = p3._relPos1Z;
        var p3X = p4._relPos1X;
        var p3Y = p4._relPos1Y;
        var p3Z = p4._relPos1Z;
        var v12X;
        var v12Y;
        var v12Z;
        var v34X;
        var v34Y;
        var v34Z;
        var v13X;
        var v13Y;
        var v13Z;
        var v24X;
        var v24Y;
        var v24Z;
        var v14X;
        var v14Y;
        var v14Z;
        var v23X;
        var v23Y;
        var v23Z;
        v12X = p2X - p1X;
        v12Y = p2Y - p1Y;
        v12Z = p2Z - p1Z;
        v34X = rp1X - p3X;
        v34Y = rp1Y - p3Y;
        v34Z = rp1Z - p3Z;
        v13X = p3X - p1X;
        v13Y = p3Y - p1Y;
        v13Z = p3Z - p1Z;
        v24X = rp1X - p2X;
        v24Y = rp1Y - p2Y;
        v24Z = rp1Z - p2Z;
        v14X = rp1X - p1X;
        v14Y = rp1Y - p1Y;
        v14Z = rp1Z - p1Z;
        v23X = p3X - p2X;
        v23Y = p3Y - p2Y;
        v23Z = p3Z - p2Z;
        var cross1X;
        var cross1Y;
        var cross1Z;
        var cross2X;
        var cross2Y;
        var cross2Z;
        var cross3X;
        var cross3Y;
        var cross3Z;
        cross1X = v12Y * v34Z - v12Z * v34Y;
        cross1Y = v12Z * v34X - v12X * v34Z;
        cross1Z = v12X * v34Y - v12Y * v34X;
        cross2X = v13Y * v24Z - v13Z * v24Y;
        cross2Y = v13Z * v24X - v13X * v24Z;
        cross2Z = v13X * v24Y - v13Y * v24X;
        cross3X = v14Y * v23Z - v14Z * v23Y;
        cross3Y = v14Z * v23X - v14X * v23Z;
        cross3Z = v14X * v23Y - v14Y * v23X;
        var a1 = cross1X * cross1X + cross1Y * cross1Y + cross1Z * cross1Z;
        var a2 = cross2X * cross2X + cross2Y * cross2Y + cross2Z * cross2Z;
        var a3 = cross3X * cross3X + cross3Y * cross3Y + cross3Z * cross3Z;
        var p1X1 = p1._relPos1X;
        var p1Y1 = p1._relPos1Y;
        var p1Z1 = p1._relPos1Z;
        var p2X1 = p3._relPos1X;
        var p2Y1 = p3._relPos1Y;
        var p2Z1 = p3._relPos1Z;
        var p3X1 = p4._relPos1X;
        var p3Y1 = p4._relPos1Y;
        var p3Z1 = p4._relPos1Z;
        var v12X1;
        var v12Y1;
        var v12Z1;
        var v34X1;
        var v34Y1;
        var v34Z1;
        var v13X1;
        var v13Y1;
        var v13Z1;
        var v24X1;
        var v24Y1;
        var v24Z1;
        var v14X1;
        var v14Y1;
        var v14Z1;
        var v23X1;
        var v23Y1;
        var v23Z1;
        v12X1 = p2X1 - p1X1;
        v12Y1 = p2Y1 - p1Y1;
        v12Z1 = p2Z1 - p1Z1;
        v34X1 = rp1X - p3X1;
        v34Y1 = rp1Y - p3Y1;
        v34Z1 = rp1Z - p3Z1;
        v13X1 = p3X1 - p1X1;
        v13Y1 = p3Y1 - p1Y1;
        v13Z1 = p3Z1 - p1Z1;
        v24X1 = rp1X - p2X1;
        v24Y1 = rp1Y - p2Y1;
        v24Z1 = rp1Z - p2Z1;
        v14X1 = rp1X - p1X1;
        v14Y1 = rp1Y - p1Y1;
        v14Z1 = rp1Z - p1Z1;
        v23X1 = p3X1 - p2X1;
        v23Y1 = p3Y1 - p2Y1;
        v23Z1 = p3Z1 - p2Z1;
        var cross1X1;
        var cross1Y1;
        var cross1Z1;
        var cross2X1;
        var cross2Y1;
        var cross2Z1;
        var cross3X1;
        var cross3Y1;
        var cross3Z1;
        cross1X1 = v12Y1 * v34Z1 - v12Z1 * v34Y1;
        cross1Y1 = v12Z1 * v34X1 - v12X1 * v34Z1;
        cross1Z1 = v12X1 * v34Y1 - v12Y1 * v34X1;
        cross2X1 = v13Y1 * v24Z1 - v13Z1 * v24Y1;
        cross2Y1 = v13Z1 * v24X1 - v13X1 * v24Z1;
        cross2Z1 = v13X1 * v24Y1 - v13Y1 * v24X1;
        cross3X1 = v14Y1 * v23Z1 - v14Z1 * v23Y1;
        cross3Y1 = v14Z1 * v23X1 - v14X1 * v23Z1;
        cross3Z1 = v14X1 * v23Y1 - v14Y1 * v23X1;
        var a11 = cross1X1 * cross1X1 + cross1Y1 * cross1Y1 + cross1Z1 * cross1Z1;
        var a21 = cross2X1 * cross2X1 + cross2Y1 * cross2Y1 + cross2Z1 * cross2Z1;
        var a31 = cross3X1 * cross3X1 + cross3Y1 * cross3Y1 + cross3Z1 * cross3Z1;
        var a22 = a11 > a21 ? a11 > a31 ? a11 : a31 : a21 > a31 ? a21 : a31;
        var p1X2 = p1._relPos1X;
        var p1Y2 = p1._relPos1Y;
        var p1Z2 = p1._relPos1Z;
        var p2X2 = p2._relPos1X;
        var p2Y2 = p2._relPos1Y;
        var p2Z2 = p2._relPos1Z;
        var p3X2 = p4._relPos1X;
        var p3Y2 = p4._relPos1Y;
        var p3Z2 = p4._relPos1Z;
        var v12X2;
        var v12Y2;
        var v12Z2;
        var v34X2;
        var v34Y2;
        var v34Z2;
        var v13X2;
        var v13Y2;
        var v13Z2;
        var v24X2;
        var v24Y2;
        var v24Z2;
        var v14X2;
        var v14Y2;
        var v14Z2;
        var v23X2;
        var v23Y2;
        var v23Z2;
        v12X2 = p2X2 - p1X2;
        v12Y2 = p2Y2 - p1Y2;
        v12Z2 = p2Z2 - p1Z2;
        v34X2 = rp1X - p3X2;
        v34Y2 = rp1Y - p3Y2;
        v34Z2 = rp1Z - p3Z2;
        v13X2 = p3X2 - p1X2;
        v13Y2 = p3Y2 - p1Y2;
        v13Z2 = p3Z2 - p1Z2;
        v24X2 = rp1X - p2X2;
        v24Y2 = rp1Y - p2Y2;
        v24Z2 = rp1Z - p2Z2;
        v14X2 = rp1X - p1X2;
        v14Y2 = rp1Y - p1Y2;
        v14Z2 = rp1Z - p1Z2;
        v23X2 = p3X2 - p2X2;
        v23Y2 = p3Y2 - p2Y2;
        v23Z2 = p3Z2 - p2Z2;
        var cross1X2;
        var cross1Y2;
        var cross1Z2;
        var cross2X2;
        var cross2Y2;
        var cross2Z2;
        var cross3X2;
        var cross3Y2;
        var cross3Z2;
        cross1X2 = v12Y2 * v34Z2 - v12Z2 * v34Y2;
        cross1Y2 = v12Z2 * v34X2 - v12X2 * v34Z2;
        cross1Z2 = v12X2 * v34Y2 - v12Y2 * v34X2;
        cross2X2 = v13Y2 * v24Z2 - v13Z2 * v24Y2;
        cross2Y2 = v13Z2 * v24X2 - v13X2 * v24Z2;
        cross2Z2 = v13X2 * v24Y2 - v13Y2 * v24X2;
        cross3X2 = v14Y2 * v23Z2 - v14Z2 * v23Y2;
        cross3Y2 = v14Z2 * v23X2 - v14X2 * v23Z2;
        cross3Z2 = v14X2 * v23Y2 - v14Y2 * v23X2;
        var a12 = cross1X2 * cross1X2 + cross1Y2 * cross1Y2 + cross1Z2 * cross1Z2;
        var a23 = cross2X2 * cross2X2 + cross2Y2 * cross2Y2 + cross2Z2 * cross2Z2;
        var a32 = cross3X2 * cross3X2 + cross3Y2 * cross3Y2 + cross3Z2 * cross3Z2;
        var a33 = a12 > a23 ? a12 > a32 ? a12 : a32 : a23 > a32 ? a23 : a32;
        var p1X3 = p1._relPos1X;
        var p1Y3 = p1._relPos1Y;
        var p1Z3 = p1._relPos1Z;
        var p2X3 = p2._relPos1X;
        var p2Y3 = p2._relPos1Y;
        var p2Z3 = p2._relPos1Z;
        var p3X3 = p3._relPos1X;
        var p3Y3 = p3._relPos1Y;
        var p3Z3 = p3._relPos1Z;
        var v12X3;
        var v12Y3;
        var v12Z3;
        var v34X3;
        var v34Y3;
        var v34Z3;
        var v13X3;
        var v13Y3;
        var v13Z3;
        var v24X3;
        var v24Y3;
        var v24Z3;
        var v14X3;
        var v14Y3;
        var v14Z3;
        var v23X3;
        var v23Y3;
        var v23Z3;
        v12X3 = p2X3 - p1X3;
        v12Y3 = p2Y3 - p1Y3;
        v12Z3 = p2Z3 - p1Z3;
        v34X3 = rp1X - p3X3;
        v34Y3 = rp1Y - p3Y3;
        v34Z3 = rp1Z - p3Z3;
        v13X3 = p3X3 - p1X3;
        v13Y3 = p3Y3 - p1Y3;
        v13Z3 = p3Z3 - p1Z3;
        v24X3 = rp1X - p2X3;
        v24Y3 = rp1Y - p2Y3;
        v24Z3 = rp1Z - p2Z3;
        v14X3 = rp1X - p1X3;
        v14Y3 = rp1Y - p1Y3;
        v14Z3 = rp1Z - p1Z3;
        v23X3 = p3X3 - p2X3;
        v23Y3 = p3Y3 - p2Y3;
        v23Z3 = p3Z3 - p2Z3;
        var cross1X3;
        var cross1Y3;
        var cross1Z3;
        var cross2X3;
        var cross2Y3;
        var cross2Z3;
        var cross3X3;
        var cross3Y3;
        var cross3Z3;
        cross1X3 = v12Y3 * v34Z3 - v12Z3 * v34Y3;
        cross1Y3 = v12Z3 * v34X3 - v12X3 * v34Z3;
        cross1Z3 = v12X3 * v34Y3 - v12Y3 * v34X3;
        cross2X3 = v13Y3 * v24Z3 - v13Z3 * v24Y3;
        cross2Y3 = v13Z3 * v24X3 - v13X3 * v24Z3;
        cross2Z3 = v13X3 * v24Y3 - v13Y3 * v24X3;
        cross3X3 = v14Y3 * v23Z3 - v14Z3 * v23Y3;
        cross3Y3 = v14Z3 * v23X3 - v14X3 * v23Z3;
        cross3Z3 = v14X3 * v23Y3 - v14Y3 * v23X3;
        var a13 = cross1X3 * cross1X3 + cross1Y3 * cross1Y3 + cross1Z3 * cross1Z3;
        var a24 = cross2X3 * cross2X3 + cross2Y3 * cross2Y3 + cross2Z3 * cross2Z3;
        var a34 = cross3X3 * cross3X3 + cross3Y3 * cross3Y3 + cross3Z3 * cross3Z3;
        var a4 = a13 > a24 ? a13 > a34 ? a13 : a34 : a24 > a34 ? a24 : a34;
        var max = a1 > a2 ? a1 > a3 ? a1 : a3 : a2 > a3 ? a2 : a3;
        var target = 0;

        if (a22 > max && maxDepthIndex != 1 || maxDepthIndex == 0) {
          max = a22;
          target = 1;
        }

        if (a33 > max && maxDepthIndex != 2) {
          max = a33;
          target = 2;
        }

        if (a4 > max && maxDepthIndex != 3) {
          target = 3;
        }

        return target;
      }
    }, {
      key: "computeRelativePositions",
      value: function computeRelativePositions(tf1, tf2) {
        var num = this._manifold._numPoints;
        var _g = 0;

        while (_g < num) {
          var p = this._manifold._points[_g++];

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * p._localPos1X + tf1._rotation01 * p._localPos1Y + tf1._rotation02 * p._localPos1Z;
          __tmp__Y = tf1._rotation10 * p._localPos1X + tf1._rotation11 * p._localPos1Y + tf1._rotation12 * p._localPos1Z;
          __tmp__Z = tf1._rotation20 * p._localPos1X + tf1._rotation21 * p._localPos1Y + tf1._rotation22 * p._localPos1Z;
          p._relPos1X = __tmp__X;
          p._relPos1Y = __tmp__Y;
          p._relPos1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * p._localPos2X + tf2._rotation01 * p._localPos2Y + tf2._rotation02 * p._localPos2Z;
          __tmp__Y1 = tf2._rotation10 * p._localPos2X + tf2._rotation11 * p._localPos2Y + tf2._rotation12 * p._localPos2Z;
          __tmp__Z1 = tf2._rotation20 * p._localPos2X + tf2._rotation21 * p._localPos2Y + tf2._rotation22 * p._localPos2Z;
          p._relPos2X = __tmp__X1;
          p._relPos2Y = __tmp__Y1;
          p._relPos2Z = __tmp__Z1;
          p._warmStarted = true;
        }
      }
    }, {
      key: "findNearestContactPointIndex",
      value: function findNearestContactPointIndex(target, tf1, tf2) {
        var nearestSq = oimo.common.Setting.contactPersistenceThreshold * oimo.common.Setting.contactPersistenceThreshold;
        var idx = -1;
        var _g = 0;
        var _g1 = this._manifold._numPoints;

        while (_g < _g1) {
          var i = _g++;
          var mp = this._manifold._points[i];
          var rp1X = void 0;
          var rp1Y = void 0;
          var rp1Z = void 0;
          var rp2X = void 0;
          var rp2Y = void 0;
          var rp2Z = void 0;
          var v = target.position1;
          rp1X = v.x;
          rp1Y = v.y;
          rp1Z = v.z;
          var v1 = target.position2;
          rp2X = v1.x;
          rp2Y = v1.y;
          rp2Z = v1.z;
          rp1X -= tf1._positionX;
          rp1Y -= tf1._positionY;
          rp1Z -= tf1._positionZ;
          rp2X -= tf2._positionX;
          rp2Y -= tf2._positionY;
          rp2Z -= tf2._positionZ;
          var diff1X = void 0;
          var diff1Y = void 0;
          var diff1Z = void 0;
          var diff2X = void 0;
          var diff2Y = void 0;
          var diff2Z = void 0;
          diff1X = mp._relPos1X - rp1X;
          diff1Y = mp._relPos1Y - rp1Y;
          diff1Z = mp._relPos1Z - rp1Z;
          diff2X = mp._relPos2X - rp2X;
          diff2Y = mp._relPos2Y - rp2Y;
          diff2Z = mp._relPos2Z - rp2Z;
          var sq1 = diff1X * diff1X + diff1Y * diff1Y + diff1Z * diff1Z;
          var sq2 = diff2X * diff2X + diff2Y * diff2Y + diff2Z * diff2Z;
          var d = sq1 < sq2 ? sq1 : sq2;

          if (d < nearestSq) {
            nearestSq = d;
            idx = i;
          }
        }

        return idx;
      }
    }, {
      key: "totalUpdate",
      value: function totalUpdate(result, tf1, tf2) {
        this.numOldPoints = this._manifold._numPoints;
        var _g = 0;
        var _g1 = this.numOldPoints;

        while (_g < _g1) {
          var i = _g++;
          var _this = this.oldPoints[i];
          var cp = this._manifold._points[i];
          _this._localPos1X = cp._localPos1X;
          _this._localPos1Y = cp._localPos1Y;
          _this._localPos1Z = cp._localPos1Z;
          _this._localPos2X = cp._localPos2X;
          _this._localPos2Y = cp._localPos2Y;
          _this._localPos2Z = cp._localPos2Z;
          _this._relPos1X = cp._relPos1X;
          _this._relPos1Y = cp._relPos1Y;
          _this._relPos1Z = cp._relPos1Z;
          _this._relPos2X = cp._relPos2X;
          _this._relPos2Y = cp._relPos2Y;
          _this._relPos2Z = cp._relPos2Z;
          _this._pos1X = cp._pos1X;
          _this._pos1Y = cp._pos1Y;
          _this._pos1Z = cp._pos1Z;
          _this._pos2X = cp._pos2X;
          _this._pos2Y = cp._pos2Y;
          _this._pos2Z = cp._pos2Z;
          _this._depth = cp._depth;

          _this._impulse.copyFrom(cp._impulse);

          _this._id = cp._id;
          _this._warmStarted = cp._warmStarted;
          _this._disabled = false;
        }

        var num = result.numPoints;
        this._manifold._numPoints = num;
        var _g2 = 0;

        while (_g2 < num) {
          var _i137 = _g2++;

          var p = this._manifold._points[_i137];
          var ref = result.points[_i137];
          var v = ref.position1;
          p._pos1X = v.x;
          p._pos1Y = v.y;
          p._pos1Z = v.z;
          var v1 = ref.position2;
          p._pos2X = v1.x;
          p._pos2Y = v1.y;
          p._pos2Z = v1.z;
          p._relPos1X = p._pos1X - tf1._positionX;
          p._relPos1Y = p._pos1Y - tf1._positionY;
          p._relPos1Z = p._pos1Z - tf1._positionZ;
          p._relPos2X = p._pos2X - tf2._positionX;
          p._relPos2Y = p._pos2Y - tf2._positionY;
          p._relPos2Z = p._pos2Z - tf2._positionZ;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * p._relPos1X + tf1._rotation10 * p._relPos1Y + tf1._rotation20 * p._relPos1Z;
          __tmp__Y = tf1._rotation01 * p._relPos1X + tf1._rotation11 * p._relPos1Y + tf1._rotation21 * p._relPos1Z;
          __tmp__Z = tf1._rotation02 * p._relPos1X + tf1._rotation12 * p._relPos1Y + tf1._rotation22 * p._relPos1Z;
          p._localPos1X = __tmp__X;
          p._localPos1Y = __tmp__Y;
          p._localPos1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * p._relPos2X + tf2._rotation10 * p._relPos2Y + tf2._rotation20 * p._relPos2Z;
          __tmp__Y1 = tf2._rotation01 * p._relPos2X + tf2._rotation11 * p._relPos2Y + tf2._rotation21 * p._relPos2Z;
          __tmp__Z1 = tf2._rotation02 * p._relPos2X + tf2._rotation12 * p._relPos2Y + tf2._rotation22 * p._relPos2Z;
          p._localPos2X = __tmp__X1;
          p._localPos2Y = __tmp__Y1;
          p._localPos2Z = __tmp__Z1;
          p._depth = ref.depth;
          var _this214 = p._impulse;
          _this214.impulseN = 0;
          _this214.impulseT = 0;
          _this214.impulseB = 0;
          _this214.impulseP = 0;
          _this214.impulseLX = 0;
          _this214.impulseLY = 0;
          _this214.impulseLZ = 0;
          p._id = ref.id;
          p._warmStarted = false;
          p._disabled = false;
          var _g296 = 0;
          var _g297 = this.numOldPoints;

          while (_g296 < _g297) {
            var ocp = this.oldPoints[_g296++];

            if (p._id == ocp._id) {
              p._impulse.copyFrom(ocp._impulse);

              p._warmStarted = true;
              break;
            }
          }
        }
      }
    }, {
      key: "incrementalUpdate",
      value: function incrementalUpdate(result, tf1, tf2) {
        this._manifold._updateDepthsAndPositions(tf1, tf2);

        var _g = 0;
        var _g1 = this._manifold._numPoints;

        while (_g < _g1) {
          this._manifold._points[_g++]._warmStarted = true;
        }

        var newPoint = result.points[0];
        var index = this.findNearestContactPointIndex(newPoint, tf1, tf2);

        if (index == -1) {
          this.addManifoldPoint(newPoint, tf1, tf2);
        } else {
          var cp = this._manifold._points[index];
          var v = newPoint.position1;
          cp._pos1X = v.x;
          cp._pos1Y = v.y;
          cp._pos1Z = v.z;
          var v1 = newPoint.position2;
          cp._pos2X = v1.x;
          cp._pos2Y = v1.y;
          cp._pos2Z = v1.z;
          cp._relPos1X = cp._pos1X - tf1._positionX;
          cp._relPos1Y = cp._pos1Y - tf1._positionY;
          cp._relPos1Z = cp._pos1Z - tf1._positionZ;
          cp._relPos2X = cp._pos2X - tf2._positionX;
          cp._relPos2Y = cp._pos2Y - tf2._positionY;
          cp._relPos2Z = cp._pos2Z - tf2._positionZ;

          var __tmp__X;

          var __tmp__Y;

          var __tmp__Z;

          __tmp__X = tf1._rotation00 * cp._relPos1X + tf1._rotation10 * cp._relPos1Y + tf1._rotation20 * cp._relPos1Z;
          __tmp__Y = tf1._rotation01 * cp._relPos1X + tf1._rotation11 * cp._relPos1Y + tf1._rotation21 * cp._relPos1Z;
          __tmp__Z = tf1._rotation02 * cp._relPos1X + tf1._rotation12 * cp._relPos1Y + tf1._rotation22 * cp._relPos1Z;
          cp._localPos1X = __tmp__X;
          cp._localPos1Y = __tmp__Y;
          cp._localPos1Z = __tmp__Z;

          var __tmp__X1;

          var __tmp__Y1;

          var __tmp__Z1;

          __tmp__X1 = tf2._rotation00 * cp._relPos2X + tf2._rotation10 * cp._relPos2Y + tf2._rotation20 * cp._relPos2Z;
          __tmp__Y1 = tf2._rotation01 * cp._relPos2X + tf2._rotation11 * cp._relPos2Y + tf2._rotation21 * cp._relPos2Z;
          __tmp__Z1 = tf2._rotation02 * cp._relPos2X + tf2._rotation12 * cp._relPos2Y + tf2._rotation22 * cp._relPos2Z;
          cp._localPos2X = __tmp__X1;
          cp._localPos2Y = __tmp__Y1;
          cp._localPos2Z = __tmp__Z1;
          cp._depth = newPoint.depth;
        }

        this.removeOutdatedPoints();
      }
    }]);

    return oimo_dynamics_constraint_contact_ManifoldUpdater;
  }();

  if (!oimo.dynamics.constraint.info) oimo.dynamics.constraint.info = {};

  oimo.dynamics.constraint.info.JacobianRow = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_info_JacobianRow() {
      _classCallCheck(this, oimo_dynamics_constraint_info_JacobianRow);

      this.lin1X = 0;
      this.lin1Y = 0;
      this.lin1Z = 0;
      this.lin2X = 0;
      this.lin2Y = 0;
      this.lin2Z = 0;
      this.ang1X = 0;
      this.ang1Y = 0;
      this.ang1Z = 0;
      this.ang2X = 0;
      this.ang2Y = 0;
      this.ang2Z = 0;
      this.flag = 0;
    }

    _createClass(oimo_dynamics_constraint_info_JacobianRow, [{
      key: "updateSparsity",
      value: function updateSparsity() {
        this.flag = 0;

        if (!(this.lin1X == 0 && this.lin1Y == 0 && this.lin1Z == 0) || !(this.lin2X == 0 && this.lin2Y == 0 && this.lin2Z == 0)) {
          this.flag |= 1;
        }

        if (!(this.ang1X == 0 && this.ang1Y == 0 && this.ang1Z == 0) || !(this.ang2X == 0 && this.ang2Y == 0 && this.ang2Z == 0)) {
          this.flag |= 2;
        }
      }
    }]);

    return oimo_dynamics_constraint_info_JacobianRow;
  }();

  if (!oimo.dynamics.constraint.info.contact) oimo.dynamics.constraint.info.contact = {};
  oimo.dynamics.constraint.info.contact.ContactSolverInfo = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_info_contact_ContactSolverInfo() {
    _classCallCheck(this, oimo_dynamics_constraint_info_contact_ContactSolverInfo);

    this.b1 = null;
    this.b2 = null;
    this.numRows = 0;
    this.rows = new Array(oimo.common.Setting.maxManifoldPoints);
    var _g = 0;
    var _g1 = this.rows.length;

    while (_g < _g1) {
      this.rows[_g++] = new oimo.dynamics.constraint.info.contact.ContactSolverInfoRow();
    }
  });
  oimo.dynamics.constraint.info.contact.ContactSolverInfoRow = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_info_contact_ContactSolverInfoRow() {
    _classCallCheck(this, oimo_dynamics_constraint_info_contact_ContactSolverInfoRow);

    this.jacobianN = new oimo.dynamics.constraint.info.JacobianRow();
    this.jacobianT = new oimo.dynamics.constraint.info.JacobianRow();
    this.jacobianB = new oimo.dynamics.constraint.info.JacobianRow();
    this.rhs = 0;
    this.cfm = 0;
    this.friction = 0;
    this.impulse = null;
  });
  if (!oimo.dynamics.constraint.info.joint) oimo.dynamics.constraint.info.joint = {};
  oimo.dynamics.constraint.info.joint.JointSolverInfo = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_info_joint_JointSolverInfo() {
    _classCallCheck(this, oimo_dynamics_constraint_info_joint_JointSolverInfo);

    this.b1 = null;
    this.b2 = null;
    this.numRows = 0;
    this.rows = new Array(oimo.common.Setting.maxJacobianRows);
    var _g = 0;
    var _g1 = this.rows.length;

    while (_g < _g1) {
      this.rows[_g++] = new oimo.dynamics.constraint.info.joint.JointSolverInfoRow();
    }
  });
  oimo.dynamics.constraint.info.joint.JointSolverInfoRow = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_info_joint_JointSolverInfoRow() {
    _classCallCheck(this, oimo_dynamics_constraint_info_joint_JointSolverInfoRow);

    this.jacobian = new oimo.dynamics.constraint.info.JacobianRow();
    this.rhs = 0;
    this.cfm = 0;
    this.minImpulse = 0;
    this.maxImpulse = 0;
    this.motorSpeed = 0;
    this.motorMaxImpulse = 0;
    this.impulse = null;
  });
  if (!oimo.dynamics.constraint.joint) oimo.dynamics.constraint.joint = {};
  oimo.dynamics.constraint.joint.BasisTracker = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_joint_BasisTracker(joint) {
    _classCallCheck(this, oimo_dynamics_constraint_joint_BasisTracker);

    this.joint = joint;
    this.xX = 0;
    this.xY = 0;
    this.xZ = 0;
    this.yX = 0;
    this.yY = 0;
    this.yZ = 0;
    this.zX = 0;
    this.zY = 0;
    this.zZ = 0;
  });

  oimo.dynamics.constraint.joint.Joint = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_joint_Joint(config, type) {
      _classCallCheck(this, oimo_dynamics_constraint_joint_Joint);

      this._link1 = new oimo.dynamics.constraint.joint.JointLink(this);
      this._link2 = new oimo.dynamics.constraint.joint.JointLink(this);
      this._positionCorrectionAlgorithm = oimo.common.Setting.defaultJointPositionCorrectionAlgorithm;
      this._type = type;
      this._world = null;
      this._b1 = config.rigidBody1;
      this._b2 = config.rigidBody2;
      this._allowCollision = config.allowCollision;
      this._breakForce = config.breakForce;
      this._breakTorque = config.breakTorque;

      switch (config.solverType) {
        case 0:
          this._solver = new oimo.dynamics.constraint.solver.pgs.PgsJointConstraintSolver(this);
          break;

        case 1:
          this._solver = new oimo.dynamics.constraint.solver.direct.DirectJointConstraintSolver(this);
          break;
      }

      var v = config.localAnchor1;
      this._localAnchor1X = v.x;
      this._localAnchor1Y = v.y;
      this._localAnchor1Z = v.z;
      var v1 = config.localAnchor2;
      this._localAnchor2X = v1.x;
      this._localAnchor2Y = v1.y;
      this._localAnchor2Z = v1.z;
      this._relativeAnchor1X = 0;
      this._relativeAnchor1Y = 0;
      this._relativeAnchor1Z = 0;
      this._relativeAnchor2X = 0;
      this._relativeAnchor2Y = 0;
      this._relativeAnchor2Z = 0;
      this._anchor1X = 0;
      this._anchor1Y = 0;
      this._anchor1Z = 0;
      this._anchor2X = 0;
      this._anchor2Y = 0;
      this._anchor2Z = 0;
      this._localBasisX1X = 0;
      this._localBasisX1Y = 0;
      this._localBasisX1Z = 0;
      this._localBasisY1X = 0;
      this._localBasisY1Y = 0;
      this._localBasisY1Z = 0;
      this._localBasisZ1X = 0;
      this._localBasisZ1Y = 0;
      this._localBasisZ1Z = 0;
      this._localBasisX2X = 0;
      this._localBasisX2Y = 0;
      this._localBasisX2Z = 0;
      this._localBasisY2X = 0;
      this._localBasisY2Y = 0;
      this._localBasisY2Z = 0;
      this._localBasisZ2X = 0;
      this._localBasisZ2Y = 0;
      this._localBasisZ2Z = 0;
      this._impulses = new Array(oimo.common.Setting.maxJacobianRows);
      var _g = 0;
      var _g1 = oimo.common.Setting.maxJacobianRows;

      while (_g < _g1) {
        this._impulses[_g++] = new oimo.dynamics.constraint.joint.JointImpulse();
      }
    }

    _createClass(oimo_dynamics_constraint_joint_Joint, [{
      key: "buildLocalBasesFromX",
      value: function buildLocalBasesFromX() {
        if (this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
          this._localBasisX1X = 1;
          this._localBasisX1Y = 0;
          this._localBasisX1Z = 0;
        } else {
          var l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;

          if (l > 0) {
            l = 1 / Math.sqrt(l);
          }

          this._localBasisX1X *= l;
          this._localBasisX1Y *= l;
          this._localBasisX1Z *= l;
        }

        if (this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z == 0) {
          this._localBasisX2X = 1;
          this._localBasisX2Y = 0;
          this._localBasisX2Z = 0;
        } else {
          var _l32 = this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z;

          if (_l32 > 0) {
            _l32 = 1 / Math.sqrt(_l32);
          }

          this._localBasisX2X *= _l32;
          this._localBasisX2Y *= _l32;
          this._localBasisX2Z *= _l32;
        }

        var slerpQX;
        var slerpQY;
        var slerpQZ;
        var slerpQW;
        var slerpM00;
        var slerpM01;
        var slerpM02;
        var slerpM10;
        var slerpM11;
        var slerpM12;
        var slerpM20;
        var slerpM21;
        var slerpM22;
        var d = this._localBasisX1X * this._localBasisX2X + this._localBasisX1Y * this._localBasisX2Y + this._localBasisX1Z * this._localBasisX2Z;

        if (d < -0.999999999) {
          var vX;
          var vY;
          var vZ;
          var _x5 = this._localBasisX1X;
          var _y5 = this._localBasisX1Y;
          var _z5 = this._localBasisX1Z;

          var _x6 = _x5 * _x5;

          var _y6 = _y5 * _y5;

          var _z6 = _z5 * _z5;

          var _d37;

          if (_x6 < _y6) {
            if (_x6 < _z6) {
              _d37 = 1 / Math.sqrt(_y6 + _z6);
              vX = 0;
              vY = _z5 * _d37;
              vZ = -_y5 * _d37;
            } else {
              _d37 = 1 / Math.sqrt(_x6 + _y6);
              vX = _y5 * _d37;
              vY = -_x5 * _d37;
              vZ = 0;
            }
          } else if (_y6 < _z6) {
            _d37 = 1 / Math.sqrt(_z6 + _x6);
            vX = -_z5 * _d37;
            vY = 0;
            vZ = _x5 * _d37;
          } else {
            _d37 = 1 / Math.sqrt(_x6 + _y6);
            vX = _y5 * _d37;
            vY = -_x5 * _d37;
            vZ = 0;
          }

          slerpQX = vX;
          slerpQY = vY;
          slerpQZ = vZ;
          slerpQW = 0;
        } else {
          var cX;
          var cY;
          var cZ;
          cX = this._localBasisX1Y * this._localBasisX2Z - this._localBasisX1Z * this._localBasisX2Y;
          cY = this._localBasisX1Z * this._localBasisX2X - this._localBasisX1X * this._localBasisX2Z;
          cZ = this._localBasisX1X * this._localBasisX2Y - this._localBasisX1Y * this._localBasisX2X;

          var _w = Math.sqrt((1 + d) * 0.5);

          d = 0.5 / _w;
          cX *= d;
          cY *= d;
          cZ *= d;
          slerpQX = cX;
          slerpQY = cY;
          slerpQZ = cZ;
          slerpQW = _w;
        }

        var x = slerpQX;
        var y = slerpQY;
        var z = slerpQZ;
        var w = slerpQW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        slerpM00 = 1 - yy - zz;
        slerpM01 = xy - wz;
        slerpM02 = xz + wy;
        slerpM10 = xy + wz;
        slerpM11 = 1 - xx - zz;
        slerpM12 = yz - wx;
        slerpM20 = xz - wy;
        slerpM21 = yz + wx;
        slerpM22 = 1 - xx - yy;
        var x1 = this._localBasisX1X;
        var y1 = this._localBasisX1Y;
        var z1 = this._localBasisX1Z;
        var x21 = x1 * x1;
        var y21 = y1 * y1;
        var z21 = z1 * z1;
        var d1;

        if (x21 < y21) {
          if (x21 < z21) {
            d1 = 1 / Math.sqrt(y21 + z21);
            this._localBasisY1X = 0;
            this._localBasisY1Y = z1 * d1;
            this._localBasisY1Z = -y1 * d1;
          } else {
            d1 = 1 / Math.sqrt(x21 + y21);
            this._localBasisY1X = y1 * d1;
            this._localBasisY1Y = -x1 * d1;
            this._localBasisY1Z = 0;
          }
        } else if (y21 < z21) {
          d1 = 1 / Math.sqrt(z21 + x21);
          this._localBasisY1X = -z1 * d1;
          this._localBasisY1Y = 0;
          this._localBasisY1Z = x1 * d1;
        } else {
          d1 = 1 / Math.sqrt(x21 + y21);
          this._localBasisY1X = y1 * d1;
          this._localBasisY1Y = -x1 * d1;
          this._localBasisY1Z = 0;
        }

        this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
        this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
        this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = slerpM00 * this._localBasisX1X + slerpM01 * this._localBasisX1Y + slerpM02 * this._localBasisX1Z;
        __tmp__Y = slerpM10 * this._localBasisX1X + slerpM11 * this._localBasisX1Y + slerpM12 * this._localBasisX1Z;
        __tmp__Z = slerpM20 * this._localBasisX1X + slerpM21 * this._localBasisX1Y + slerpM22 * this._localBasisX1Z;
        this._localBasisX2X = __tmp__X;
        this._localBasisX2Y = __tmp__Y;
        this._localBasisX2Z = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = slerpM00 * this._localBasisY1X + slerpM01 * this._localBasisY1Y + slerpM02 * this._localBasisY1Z;
        __tmp__Y1 = slerpM10 * this._localBasisY1X + slerpM11 * this._localBasisY1Y + slerpM12 * this._localBasisY1Z;
        __tmp__Z1 = slerpM20 * this._localBasisY1X + slerpM21 * this._localBasisY1Y + slerpM22 * this._localBasisY1Z;
        this._localBasisY2X = __tmp__X1;
        this._localBasisY2Y = __tmp__Y1;
        this._localBasisY2Z = __tmp__Z1;

        var __tmp__X2;

        var __tmp__Y2;

        var __tmp__Z2;

        __tmp__X2 = slerpM00 * this._localBasisZ1X + slerpM01 * this._localBasisZ1Y + slerpM02 * this._localBasisZ1Z;
        __tmp__Y2 = slerpM10 * this._localBasisZ1X + slerpM11 * this._localBasisZ1Y + slerpM12 * this._localBasisZ1Z;
        __tmp__Z2 = slerpM20 * this._localBasisZ1X + slerpM21 * this._localBasisZ1Y + slerpM22 * this._localBasisZ1Z;
        this._localBasisZ2X = __tmp__X2;
        this._localBasisZ2Y = __tmp__Y2;
        this._localBasisZ2Z = __tmp__Z2;
      }
    }, {
      key: "buildLocalBasesFromXY",
      value: function buildLocalBasesFromXY() {
        if (this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
          this._localBasisX1X = 1;
          this._localBasisX1Y = 0;
          this._localBasisX1Z = 0;
        } else {
          var l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;

          if (l > 0) {
            l = 1 / Math.sqrt(l);
          }

          this._localBasisX1X *= l;
          this._localBasisX1Y *= l;
          this._localBasisX1Z *= l;
        }

        if (this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z == 0) {
          this._localBasisX2X = 1;
          this._localBasisX2Y = 0;
          this._localBasisX2Z = 0;
        } else {
          var _l33 = this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z;

          if (_l33 > 0) {
            _l33 = 1 / Math.sqrt(_l33);
          }

          this._localBasisX2X *= _l33;
          this._localBasisX2Y *= _l33;
          this._localBasisX2Z *= _l33;
        }

        this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
        this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
        this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
        this._localBasisZ2X = this._localBasisX2Y * this._localBasisY2Z - this._localBasisX2Z * this._localBasisY2Y;
        this._localBasisZ2Y = this._localBasisX2Z * this._localBasisY2X - this._localBasisX2X * this._localBasisY2Z;
        this._localBasisZ2Z = this._localBasisX2X * this._localBasisY2Y - this._localBasisX2Y * this._localBasisY2X;

        if (this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z == 0) {
          var x1 = this._localBasisX1X;
          var y1 = this._localBasisX1Y;
          var z1 = this._localBasisX1Z;
          var x2 = x1 * x1;
          var y2 = y1 * y1;
          var z2 = z1 * z1;
          var d;

          if (x2 < y2) {
            if (x2 < z2) {
              d = 1 / Math.sqrt(y2 + z2);
              this._localBasisY1X = 0;
              this._localBasisY1Y = z1 * d;
              this._localBasisY1Z = -y1 * d;
            } else {
              d = 1 / Math.sqrt(x2 + y2);
              this._localBasisY1X = y1 * d;
              this._localBasisY1Y = -x1 * d;
              this._localBasisY1Z = 0;
            }
          } else if (y2 < z2) {
            d = 1 / Math.sqrt(z2 + x2);
            this._localBasisY1X = -z1 * d;
            this._localBasisY1Y = 0;
            this._localBasisY1Z = x1 * d;
          } else {
            d = 1 / Math.sqrt(x2 + y2);
            this._localBasisY1X = y1 * d;
            this._localBasisY1Y = -x1 * d;
            this._localBasisY1Z = 0;
          }

          this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
          this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
          this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
        } else {
          var _l34 = this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z;

          if (_l34 > 0) {
            _l34 = 1 / Math.sqrt(_l34);
          }

          this._localBasisZ1X *= _l34;
          this._localBasisZ1Y *= _l34;
          this._localBasisZ1Z *= _l34;
          this._localBasisY1X = this._localBasisZ1Y * this._localBasisX1Z - this._localBasisZ1Z * this._localBasisX1Y;
          this._localBasisY1Y = this._localBasisZ1Z * this._localBasisX1X - this._localBasisZ1X * this._localBasisX1Z;
          this._localBasisY1Z = this._localBasisZ1X * this._localBasisX1Y - this._localBasisZ1Y * this._localBasisX1X;
        }

        if (this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z == 0) {
          var _x7 = this._localBasisX2X;
          var _y7 = this._localBasisX2Y;
          var _z7 = this._localBasisX2Z;

          var _x8 = _x7 * _x7;

          var _y8 = _y7 * _y7;

          var _z8 = _z7 * _z7;

          var _d38;

          if (_x8 < _y8) {
            if (_x8 < _z8) {
              _d38 = 1 / Math.sqrt(_y8 + _z8);
              this._localBasisY2X = 0;
              this._localBasisY2Y = _z7 * _d38;
              this._localBasisY2Z = -_y7 * _d38;
            } else {
              _d38 = 1 / Math.sqrt(_x8 + _y8);
              this._localBasisY2X = _y7 * _d38;
              this._localBasisY2Y = -_x7 * _d38;
              this._localBasisY2Z = 0;
            }
          } else if (_y8 < _z8) {
            _d38 = 1 / Math.sqrt(_z8 + _x8);
            this._localBasisY2X = -_z7 * _d38;
            this._localBasisY2Y = 0;
            this._localBasisY2Z = _x7 * _d38;
          } else {
            _d38 = 1 / Math.sqrt(_x8 + _y8);
            this._localBasisY2X = _y7 * _d38;
            this._localBasisY2Y = -_x7 * _d38;
            this._localBasisY2Z = 0;
          }

          this._localBasisZ2X = this._localBasisX2Y * this._localBasisY2Z - this._localBasisX2Z * this._localBasisY2Y;
          this._localBasisZ2Y = this._localBasisX2Z * this._localBasisY2X - this._localBasisX2X * this._localBasisY2Z;
          this._localBasisZ2Z = this._localBasisX2X * this._localBasisY2Y - this._localBasisX2Y * this._localBasisY2X;
        } else {
          var _l35 = this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z;

          if (_l35 > 0) {
            _l35 = 1 / Math.sqrt(_l35);
          }

          this._localBasisZ2X *= _l35;
          this._localBasisZ2Y *= _l35;
          this._localBasisZ2Z *= _l35;
          this._localBasisY2X = this._localBasisZ2Y * this._localBasisX2Z - this._localBasisZ2Z * this._localBasisX2Y;
          this._localBasisY2Y = this._localBasisZ2Z * this._localBasisX2X - this._localBasisZ2X * this._localBasisX2Z;
          this._localBasisY2Z = this._localBasisZ2X * this._localBasisX2Y - this._localBasisZ2Y * this._localBasisX2X;
        }
      }
    }, {
      key: "buildLocalBasesFromX1Z2",
      value: function buildLocalBasesFromX1Z2() {
        if (this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
          this._localBasisX1X = 1;
          this._localBasisX1Y = 0;
          this._localBasisX1Z = 0;
        } else {
          var l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;

          if (l > 0) {
            l = 1 / Math.sqrt(l);
          }

          this._localBasisX1X *= l;
          this._localBasisX1Y *= l;
          this._localBasisX1Z *= l;
        }

        if (this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z == 0) {
          this._localBasisZ2X = 0;
          this._localBasisZ2Y = 0;
          this._localBasisZ2Z = 1;
        } else {
          var _l36 = this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z;

          if (_l36 > 0) {
            _l36 = 1 / Math.sqrt(_l36);
          }

          this._localBasisZ2X *= _l36;
          this._localBasisZ2Y *= _l36;
          this._localBasisZ2Z *= _l36;
        }

        var tf1 = this._b1._transform;
        var tf2 = this._b2._transform;
        var worldX1X;
        var worldX1Y;
        var worldX1Z;
        var worldZ1X;
        var worldZ1Y;
        var worldZ1Z;
        var worldYX;
        var worldYY;
        var worldYZ;
        var worldX2X;
        var worldX2Y;
        var worldX2Z;
        var worldZ2X;
        var worldZ2Y;
        var worldZ2Z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf1._rotation00 * this._localBasisX1X + tf1._rotation01 * this._localBasisX1Y + tf1._rotation02 * this._localBasisX1Z;
        __tmp__Y = tf1._rotation10 * this._localBasisX1X + tf1._rotation11 * this._localBasisX1Y + tf1._rotation12 * this._localBasisX1Z;
        __tmp__Z = tf1._rotation20 * this._localBasisX1X + tf1._rotation21 * this._localBasisX1Y + tf1._rotation22 * this._localBasisX1Z;
        worldX1X = __tmp__X;
        worldX1Y = __tmp__Y;
        worldX1Z = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = tf2._rotation00 * this._localBasisZ2X + tf2._rotation01 * this._localBasisZ2Y + tf2._rotation02 * this._localBasisZ2Z;
        __tmp__Y1 = tf2._rotation10 * this._localBasisZ2X + tf2._rotation11 * this._localBasisZ2Y + tf2._rotation12 * this._localBasisZ2Z;
        __tmp__Z1 = tf2._rotation20 * this._localBasisZ2X + tf2._rotation21 * this._localBasisZ2Y + tf2._rotation22 * this._localBasisZ2Z;
        worldZ2X = __tmp__X1;
        worldZ2Y = __tmp__Y1;
        worldZ2Z = __tmp__Z1;
        worldYX = worldZ2Y * worldX1Z - worldZ2Z * worldX1Y;
        worldYY = worldZ2Z * worldX1X - worldZ2X * worldX1Z;
        worldYZ = worldZ2X * worldX1Y - worldZ2Y * worldX1X;

        if (worldYX * worldYX + worldYY * worldYY + worldYZ * worldYZ == 0) {
          var x1 = worldX1X;
          var y1 = worldX1Y;
          var z1 = worldX1Z;
          var x2 = x1 * x1;
          var y2 = y1 * y1;
          var z2 = z1 * z1;
          var d;

          if (x2 < y2) {
            if (x2 < z2) {
              d = 1 / Math.sqrt(y2 + z2);
              worldYX = 0;
              worldYY = z1 * d;
              worldYZ = -y1 * d;
            } else {
              d = 1 / Math.sqrt(x2 + y2);
              worldYX = y1 * d;
              worldYY = -x1 * d;
              worldYZ = 0;
            }
          } else if (y2 < z2) {
            d = 1 / Math.sqrt(z2 + x2);
            worldYX = -z1 * d;
            worldYY = 0;
            worldYZ = x1 * d;
          } else {
            d = 1 / Math.sqrt(x2 + y2);
            worldYX = y1 * d;
            worldYY = -x1 * d;
            worldYZ = 0;
          }
        }

        worldZ1X = worldX1Y * worldYZ - worldX1Z * worldYY;
        worldZ1Y = worldX1Z * worldYX - worldX1X * worldYZ;
        worldZ1Z = worldX1X * worldYY - worldX1Y * worldYX;
        worldX2X = worldYY * worldZ2Z - worldYZ * worldZ2Y;
        worldX2Y = worldYZ * worldZ2X - worldYX * worldZ2Z;
        worldX2Z = worldYX * worldZ2Y - worldYY * worldZ2X;

        var __tmp__X2;

        var __tmp__Y2;

        var __tmp__Z2;

        __tmp__X2 = tf1._rotation00 * worldX1X + tf1._rotation10 * worldX1Y + tf1._rotation20 * worldX1Z;
        __tmp__Y2 = tf1._rotation01 * worldX1X + tf1._rotation11 * worldX1Y + tf1._rotation21 * worldX1Z;
        __tmp__Z2 = tf1._rotation02 * worldX1X + tf1._rotation12 * worldX1Y + tf1._rotation22 * worldX1Z;
        this._localBasisX1X = __tmp__X2;
        this._localBasisX1Y = __tmp__Y2;
        this._localBasisX1Z = __tmp__Z2;

        var __tmp__X3;

        var __tmp__Y3;

        var __tmp__Z3;

        __tmp__X3 = tf1._rotation00 * worldYX + tf1._rotation10 * worldYY + tf1._rotation20 * worldYZ;
        __tmp__Y3 = tf1._rotation01 * worldYX + tf1._rotation11 * worldYY + tf1._rotation21 * worldYZ;
        __tmp__Z3 = tf1._rotation02 * worldYX + tf1._rotation12 * worldYY + tf1._rotation22 * worldYZ;
        this._localBasisY1X = __tmp__X3;
        this._localBasisY1Y = __tmp__Y3;
        this._localBasisY1Z = __tmp__Z3;

        var __tmp__X4;

        var __tmp__Y4;

        var __tmp__Z4;

        __tmp__X4 = tf1._rotation00 * worldZ1X + tf1._rotation10 * worldZ1Y + tf1._rotation20 * worldZ1Z;
        __tmp__Y4 = tf1._rotation01 * worldZ1X + tf1._rotation11 * worldZ1Y + tf1._rotation21 * worldZ1Z;
        __tmp__Z4 = tf1._rotation02 * worldZ1X + tf1._rotation12 * worldZ1Y + tf1._rotation22 * worldZ1Z;
        this._localBasisZ1X = __tmp__X4;
        this._localBasisZ1Y = __tmp__Y4;
        this._localBasisZ1Z = __tmp__Z4;

        var __tmp__X5;

        var __tmp__Y5;

        var __tmp__Z5;

        __tmp__X5 = tf2._rotation00 * worldX2X + tf2._rotation10 * worldX2Y + tf2._rotation20 * worldX2Z;
        __tmp__Y5 = tf2._rotation01 * worldX2X + tf2._rotation11 * worldX2Y + tf2._rotation21 * worldX2Z;
        __tmp__Z5 = tf2._rotation02 * worldX2X + tf2._rotation12 * worldX2Y + tf2._rotation22 * worldX2Z;
        this._localBasisX2X = __tmp__X5;
        this._localBasisX2Y = __tmp__Y5;
        this._localBasisX2Z = __tmp__Z5;

        var __tmp__X6;

        var __tmp__Y6;

        var __tmp__Z6;

        __tmp__X6 = tf2._rotation00 * worldYX + tf2._rotation10 * worldYY + tf2._rotation20 * worldYZ;
        __tmp__Y6 = tf2._rotation01 * worldYX + tf2._rotation11 * worldYY + tf2._rotation21 * worldYZ;
        __tmp__Z6 = tf2._rotation02 * worldYX + tf2._rotation12 * worldYY + tf2._rotation22 * worldYZ;
        this._localBasisY2X = __tmp__X6;
        this._localBasisY2Y = __tmp__Y6;
        this._localBasisY2Z = __tmp__Z6;

        var __tmp__X7;

        var __tmp__Y7;

        var __tmp__Z7;

        __tmp__X7 = tf2._rotation00 * worldZ2X + tf2._rotation10 * worldZ2Y + tf2._rotation20 * worldZ2Z;
        __tmp__Y7 = tf2._rotation01 * worldZ2X + tf2._rotation11 * worldZ2Y + tf2._rotation21 * worldZ2Z;
        __tmp__Z7 = tf2._rotation02 * worldZ2X + tf2._rotation12 * worldZ2Y + tf2._rotation22 * worldZ2Z;
        this._localBasisZ2X = __tmp__X7;
        this._localBasisZ2Y = __tmp__Y7;
        this._localBasisZ2Z = __tmp__Z7;
      }
    }, {
      key: "buildLocalBasesFromXY1X2",
      value: function buildLocalBasesFromXY1X2() {
        if (this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
          this._localBasisX1X = 1;
          this._localBasisX1Y = 0;
          this._localBasisX1Z = 0;
        } else {
          var l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;

          if (l > 0) {
            l = 1 / Math.sqrt(l);
          }

          this._localBasisX1X *= l;
          this._localBasisX1Y *= l;
          this._localBasisX1Z *= l;
        }

        this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
        this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
        this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;

        if (this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z == 0) {
          var x1 = this._localBasisX1X;
          var y1 = this._localBasisX1Y;
          var z1 = this._localBasisX1Z;

          var _x9 = x1 * x1;

          var _y9 = y1 * y1;

          var _z9 = z1 * z1;

          var _d39;

          if (_x9 < _y9) {
            if (_x9 < _z9) {
              _d39 = 1 / Math.sqrt(_y9 + _z9);
              this._localBasisY1X = 0;
              this._localBasisY1Y = z1 * _d39;
              this._localBasisY1Z = -y1 * _d39;
            } else {
              _d39 = 1 / Math.sqrt(_x9 + _y9);
              this._localBasisY1X = y1 * _d39;
              this._localBasisY1Y = -x1 * _d39;
              this._localBasisY1Z = 0;
            }
          } else if (_y9 < _z9) {
            _d39 = 1 / Math.sqrt(_z9 + _x9);
            this._localBasisY1X = -z1 * _d39;
            this._localBasisY1Y = 0;
            this._localBasisY1Z = x1 * _d39;
          } else {
            _d39 = 1 / Math.sqrt(_x9 + _y9);
            this._localBasisY1X = y1 * _d39;
            this._localBasisY1Y = -x1 * _d39;
            this._localBasisY1Z = 0;
          }

          this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
          this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
          this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
        } else {
          var _l37 = this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z;

          if (_l37 > 0) {
            _l37 = 1 / Math.sqrt(_l37);
          }

          this._localBasisZ1X *= _l37;
          this._localBasisZ1Y *= _l37;
          this._localBasisZ1Z *= _l37;
          this._localBasisY1X = this._localBasisZ1Y * this._localBasisX1Z - this._localBasisZ1Z * this._localBasisX1Y;
          this._localBasisY1Y = this._localBasisZ1Z * this._localBasisX1X - this._localBasisZ1X * this._localBasisX1Z;
          this._localBasisY1Z = this._localBasisZ1X * this._localBasisX1Y - this._localBasisZ1Y * this._localBasisX1X;
        }

        var slerpQX;
        var slerpQY;
        var slerpQZ;
        var slerpQW;
        var slerpM00;
        var slerpM01;
        var slerpM02;
        var slerpM10;
        var slerpM11;
        var slerpM12;
        var slerpM20;
        var slerpM21;
        var slerpM22;
        var d = this._localBasisX1X * this._localBasisX2X + this._localBasisX1Y * this._localBasisX2Y + this._localBasisX1Z * this._localBasisX2Z;

        if (d < -0.999999999) {
          var vX;
          var vY;
          var vZ;
          var _x10 = this._localBasisX1X;
          var _y10 = this._localBasisX1Y;
          var _z10 = this._localBasisX1Z;

          var _x11 = _x10 * _x10;

          var _y11 = _y10 * _y10;

          var _z11 = _z10 * _z10;

          var _d40;

          if (_x11 < _y11) {
            if (_x11 < _z11) {
              _d40 = 1 / Math.sqrt(_y11 + _z11);
              vX = 0;
              vY = _z10 * _d40;
              vZ = -_y10 * _d40;
            } else {
              _d40 = 1 / Math.sqrt(_x11 + _y11);
              vX = _y10 * _d40;
              vY = -_x10 * _d40;
              vZ = 0;
            }
          } else if (_y11 < _z11) {
            _d40 = 1 / Math.sqrt(_z11 + _x11);
            vX = -_z10 * _d40;
            vY = 0;
            vZ = _x10 * _d40;
          } else {
            _d40 = 1 / Math.sqrt(_x11 + _y11);
            vX = _y10 * _d40;
            vY = -_x10 * _d40;
            vZ = 0;
          }

          slerpQX = vX;
          slerpQY = vY;
          slerpQZ = vZ;
          slerpQW = 0;
        } else {
          var cX;
          var cY;
          var cZ;
          cX = this._localBasisX1Y * this._localBasisX2Z - this._localBasisX1Z * this._localBasisX2Y;
          cY = this._localBasisX1Z * this._localBasisX2X - this._localBasisX1X * this._localBasisX2Z;
          cZ = this._localBasisX1X * this._localBasisX2Y - this._localBasisX1Y * this._localBasisX2X;

          var _w2 = Math.sqrt((1 + d) * 0.5);

          d = 0.5 / _w2;
          cX *= d;
          cY *= d;
          cZ *= d;
          slerpQX = cX;
          slerpQY = cY;
          slerpQZ = cZ;
          slerpQW = _w2;
        }

        var x = slerpQX;
        var y = slerpQY;
        var z = slerpQZ;
        var w = slerpQW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        slerpM00 = 1 - yy - zz;
        slerpM01 = xy - wz;
        slerpM02 = xz + wy;
        slerpM10 = xy + wz;
        slerpM11 = 1 - xx - zz;
        slerpM12 = yz - wx;
        slerpM20 = xz - wy;
        slerpM21 = yz + wx;
        slerpM22 = 1 - xx - yy;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = slerpM00 * this._localBasisX1X + slerpM01 * this._localBasisX1Y + slerpM02 * this._localBasisX1Z;
        __tmp__Y = slerpM10 * this._localBasisX1X + slerpM11 * this._localBasisX1Y + slerpM12 * this._localBasisX1Z;
        __tmp__Z = slerpM20 * this._localBasisX1X + slerpM21 * this._localBasisX1Y + slerpM22 * this._localBasisX1Z;
        this._localBasisX2X = __tmp__X;
        this._localBasisX2Y = __tmp__Y;
        this._localBasisX2Z = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = slerpM00 * this._localBasisY1X + slerpM01 * this._localBasisY1Y + slerpM02 * this._localBasisY1Z;
        __tmp__Y1 = slerpM10 * this._localBasisY1X + slerpM11 * this._localBasisY1Y + slerpM12 * this._localBasisY1Z;
        __tmp__Z1 = slerpM20 * this._localBasisY1X + slerpM21 * this._localBasisY1Y + slerpM22 * this._localBasisY1Z;
        this._localBasisY2X = __tmp__X1;
        this._localBasisY2Y = __tmp__Y1;
        this._localBasisY2Z = __tmp__Z1;

        var __tmp__X2;

        var __tmp__Y2;

        var __tmp__Z2;

        __tmp__X2 = slerpM00 * this._localBasisZ1X + slerpM01 * this._localBasisZ1Y + slerpM02 * this._localBasisZ1Z;
        __tmp__Y2 = slerpM10 * this._localBasisZ1X + slerpM11 * this._localBasisZ1Y + slerpM12 * this._localBasisZ1Z;
        __tmp__Z2 = slerpM20 * this._localBasisZ1X + slerpM21 * this._localBasisZ1Y + slerpM22 * this._localBasisZ1Z;
        this._localBasisZ2X = __tmp__X2;
        this._localBasisZ2Y = __tmp__Y2;
        this._localBasisZ2Z = __tmp__Z2;
      }
    }, {
      key: "setSolverInfoRowLinear",
      value: function setSolverInfoRowLinear(row, diff, lm, mass, sd, timeStep, isPositionPart) {
        var cfmFactor;
        var erp;
        var slop = oimo.common.Setting.linearSlop;

        if (isPositionPart) {
          cfmFactor = 0;
          erp = 1;
        } else {
          if (sd.frequency > 0) {
            slop = 0;
            var omega = 6.28318530717958 * sd.frequency;
            var zeta = sd.dampingRatio;

            if (zeta < oimo.common.Setting.minSpringDamperDampingRatio) {
              zeta = oimo.common.Setting.minSpringDamperDampingRatio;
            }

            var h = timeStep.dt;
            var c = 2 * zeta * omega;
            var k = omega * omega;

            if (sd.useSymplecticEuler) {
              cfmFactor = 1 / (h * c);
              erp = k / c;
            } else {
              cfmFactor = 1 / (h * (h * k + c));
              erp = k / (h * k + c);
            }
          } else {
            cfmFactor = 0;
            erp = this.getErp(timeStep, false);
          }

          if (lm.motorForce > 0) {
            row.motorSpeed = lm.motorSpeed;
            row.motorMaxImpulse = lm.motorForce * timeStep.dt;
          } else {
            row.motorSpeed = 0;
            row.motorMaxImpulse = 0;
          }
        }

        var lower = lm.lowerLimit;
        var upper = lm.upperLimit;
        var minImp;
        var maxImp;
        var error;

        if (lower > upper) {
          minImp = 0;
          maxImp = 0;
          error = 0;
        } else if (lower == upper) {
          minImp = -1e65536;
          maxImp = 1e65536;
          error = diff - lower;
        } else if (diff < lower) {
          minImp = -1e65536;
          maxImp = 0;
          error = diff - lower + slop;

          if (error > 0) {
            error = 0;
          }
        } else if (diff > upper) {
          minImp = 0;
          maxImp = 1e65536;
          error = diff - upper - slop;

          if (error < 0) {
            error = 0;
          }
        } else {
          minImp = 0;
          maxImp = 0;
          error = 0;
        }

        row.minImpulse = minImp;
        row.maxImpulse = maxImp;
        row.cfm = cfmFactor * (mass == 0 ? 0 : 1 / mass);
        row.rhs = error * erp;
      }
    }, {
      key: "setSolverInfoRowAngular",
      value: function setSolverInfoRowAngular(row, diff, lm, mass, sd, timeStep, isPositionPart) {
        var cfmFactor;
        var erp;
        var slop = oimo.common.Setting.angularSlop;

        if (isPositionPart) {
          cfmFactor = 0;
          erp = 1;
        } else {
          if (sd.frequency > 0) {
            slop = 0;
            var omega = 6.28318530717958 * sd.frequency;
            var zeta = sd.dampingRatio;

            if (zeta < oimo.common.Setting.minSpringDamperDampingRatio) {
              zeta = oimo.common.Setting.minSpringDamperDampingRatio;
            }

            var h = timeStep.dt;
            var c = 2 * zeta * omega;
            var k = omega * omega;

            if (sd.useSymplecticEuler) {
              cfmFactor = 1 / (h * c);
              erp = k / c;
            } else {
              cfmFactor = 1 / (h * (h * k + c));
              erp = k / (h * k + c);
            }
          } else {
            cfmFactor = 0;
            erp = this.getErp(timeStep, false);
          }

          if (lm.motorTorque > 0) {
            row.motorSpeed = lm.motorSpeed;
            row.motorMaxImpulse = lm.motorTorque * timeStep.dt;
          } else {
            row.motorSpeed = 0;
            row.motorMaxImpulse = 0;
          }
        }

        var lower = lm.lowerLimit;
        var upper = lm.upperLimit;
        var mid = (lower + upper) * 0.5;
        diff -= mid;
        diff = ((diff + 3.14159265358979) % 6.28318530717958 + 6.28318530717958) % 6.28318530717958 - 3.14159265358979;
        diff += mid;
        var minImp;
        var maxImp;
        var error;

        if (lower > upper) {
          minImp = 0;
          maxImp = 0;
          error = 0;
        } else if (lower == upper) {
          minImp = -1e65536;
          maxImp = 1e65536;
          error = diff - lower;
        } else if (diff < lower) {
          minImp = -1e65536;
          maxImp = 0;
          error = diff - lower + slop;

          if (error > 0) {
            error = 0;
          }
        } else if (diff > upper) {
          minImp = 0;
          maxImp = 1e65536;
          error = diff - upper - slop;

          if (error < 0) {
            error = 0;
          }
        } else {
          minImp = 0;
          maxImp = 0;
          error = 0;
        }

        row.minImpulse = minImp;
        row.maxImpulse = maxImp;
        row.cfm = cfmFactor * (mass == 0 ? 0 : 1 / mass);
        row.rhs = error * erp;
      }
    }, {
      key: "getErp",
      value: function getErp(timeStep, isPositionPart) {
        if (isPositionPart) {
          return 1;
        } else if (this._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE) {
          return timeStep.invDt * oimo.common.Setting.velocityBaumgarte;
        } else {
          return 0;
        }
      }
    }, {
      key: "computeEffectiveInertiaMoment",
      value: function computeEffectiveInertiaMoment(axisX, axisY, axisZ) {
        var ia1X;
        var ia1Y;
        var ia1Z;
        var ia2X;
        var ia2Y;
        var ia2Z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._b1._invInertia00 * axisX + this._b1._invInertia01 * axisY + this._b1._invInertia02 * axisZ;
        __tmp__Y = this._b1._invInertia10 * axisX + this._b1._invInertia11 * axisY + this._b1._invInertia12 * axisZ;
        __tmp__Z = this._b1._invInertia20 * axisX + this._b1._invInertia21 * axisY + this._b1._invInertia22 * axisZ;
        ia1X = __tmp__X;
        ia1Y = __tmp__Y;
        ia1Z = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = this._b2._invInertia00 * axisX + this._b2._invInertia01 * axisY + this._b2._invInertia02 * axisZ;
        __tmp__Y1 = this._b2._invInertia10 * axisX + this._b2._invInertia11 * axisY + this._b2._invInertia12 * axisZ;
        __tmp__Z1 = this._b2._invInertia20 * axisX + this._b2._invInertia21 * axisY + this._b2._invInertia22 * axisZ;
        ia2X = __tmp__X1;
        ia2Y = __tmp__Y1;
        ia2Z = __tmp__Z1;
        var invI1 = ia1X * axisX + ia1Y * axisY + ia1Z * axisZ;
        var invI2 = ia2X * axisX + ia2Y * axisY + ia2Z * axisZ;

        if (invI1 > 0) {
          var dot = axisX * this._relativeAnchor1X + axisY * this._relativeAnchor1Y + axisZ * this._relativeAnchor1Z;
          var projsq = this._relativeAnchor1X * this._relativeAnchor1X + this._relativeAnchor1Y * this._relativeAnchor1Y + this._relativeAnchor1Z * this._relativeAnchor1Z - dot * dot;

          if (projsq > 0) {
            if (this._b1._invMass > 0) {
              invI1 = 1 / (1 / invI1 + this._b1._mass * projsq);
            } else {
              invI1 = 0;
            }
          }
        }

        if (invI2 > 0) {
          var _dot = axisX * this._relativeAnchor2X + axisY * this._relativeAnchor2Y + axisZ * this._relativeAnchor2Z;

          var _projsq = this._relativeAnchor2X * this._relativeAnchor2X + this._relativeAnchor2Y * this._relativeAnchor2Y + this._relativeAnchor2Z * this._relativeAnchor2Z - _dot * _dot;

          if (_projsq > 0) {
            if (this._b2._invMass > 0) {
              invI2 = 1 / (1 / invI2 + this._b2._mass * _projsq);
            } else {
              invI2 = 0;
            }
          }
        }

        if (invI1 + invI2 == 0) {
          return 0;
        } else {
          return 1 / (invI1 + invI2);
        }
      }
    }, {
      key: "computeEffectiveInertiaMoment2",
      value: function computeEffectiveInertiaMoment2(axis1X, axis1Y, axis1Z, axis2X, axis2Y, axis2Z) {
        var ia1X;
        var ia1Y;
        var ia1Z;
        var ia2X;
        var ia2Y;
        var ia2Z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._b1._invInertia00 * axis1X + this._b1._invInertia01 * axis1Y + this._b1._invInertia02 * axis1Z;
        __tmp__Y = this._b1._invInertia10 * axis1X + this._b1._invInertia11 * axis1Y + this._b1._invInertia12 * axis1Z;
        __tmp__Z = this._b1._invInertia20 * axis1X + this._b1._invInertia21 * axis1Y + this._b1._invInertia22 * axis1Z;
        ia1X = __tmp__X;
        ia1Y = __tmp__Y;
        ia1Z = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = this._b2._invInertia00 * axis2X + this._b2._invInertia01 * axis2Y + this._b2._invInertia02 * axis2Z;
        __tmp__Y1 = this._b2._invInertia10 * axis2X + this._b2._invInertia11 * axis2Y + this._b2._invInertia12 * axis2Z;
        __tmp__Z1 = this._b2._invInertia20 * axis2X + this._b2._invInertia21 * axis2Y + this._b2._invInertia22 * axis2Z;
        ia2X = __tmp__X1;
        ia2Y = __tmp__Y1;
        ia2Z = __tmp__Z1;
        var invI1 = ia1X * axis1X + ia1Y * axis1Y + ia1Z * axis1Z;
        var invI2 = ia2X * axis2X + ia2Y * axis2Y + ia2Z * axis2Z;

        if (invI1 > 0) {
          var rsq = this._relativeAnchor1X * this._relativeAnchor1X + this._relativeAnchor1Y * this._relativeAnchor1Y + this._relativeAnchor1Z * this._relativeAnchor1Z;
          var dot = axis1X * this._relativeAnchor1X + axis1Y * this._relativeAnchor1Y + axis1Z * this._relativeAnchor1Z;
          var projsq = rsq * rsq - dot * dot;

          if (projsq > 0) {
            if (this._b1._invMass > 0) {
              invI1 = 1 / (1 / invI1 + this._b1._mass * projsq);
            } else {
              invI1 = 0;
            }
          }
        }

        if (invI2 > 0) {
          var _rsq = this._relativeAnchor2X * this._relativeAnchor2X + this._relativeAnchor2Y * this._relativeAnchor2Y + this._relativeAnchor2Z * this._relativeAnchor2Z;

          var _dot2 = axis2X * this._relativeAnchor2X + axis2Y * this._relativeAnchor2Y + axis2Z * this._relativeAnchor2Z;

          var _projsq2 = _rsq * _rsq - _dot2 * _dot2;

          if (_projsq2 > 0) {
            if (this._b2._invMass > 0) {
              invI2 = 1 / (1 / invI2 + this._b2._mass * _projsq2);
            } else {
              invI2 = 0;
            }
          }
        }

        if (invI1 + invI2 == 0) {
          return 0;
        } else {
          return 1 / (invI1 + invI2);
        }
      }
    }, {
      key: "_syncAnchors",
      value: function _syncAnchors() {
        var tf1 = this._b1._transform;
        var tf2 = this._b2._transform;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = tf1._rotation00 * this._localAnchor1X + tf1._rotation01 * this._localAnchor1Y + tf1._rotation02 * this._localAnchor1Z;
        __tmp__Y = tf1._rotation10 * this._localAnchor1X + tf1._rotation11 * this._localAnchor1Y + tf1._rotation12 * this._localAnchor1Z;
        __tmp__Z = tf1._rotation20 * this._localAnchor1X + tf1._rotation21 * this._localAnchor1Y + tf1._rotation22 * this._localAnchor1Z;
        this._relativeAnchor1X = __tmp__X;
        this._relativeAnchor1Y = __tmp__Y;
        this._relativeAnchor1Z = __tmp__Z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = tf2._rotation00 * this._localAnchor2X + tf2._rotation01 * this._localAnchor2Y + tf2._rotation02 * this._localAnchor2Z;
        __tmp__Y1 = tf2._rotation10 * this._localAnchor2X + tf2._rotation11 * this._localAnchor2Y + tf2._rotation12 * this._localAnchor2Z;
        __tmp__Z1 = tf2._rotation20 * this._localAnchor2X + tf2._rotation21 * this._localAnchor2Y + tf2._rotation22 * this._localAnchor2Z;
        this._relativeAnchor2X = __tmp__X1;
        this._relativeAnchor2Y = __tmp__Y1;
        this._relativeAnchor2Z = __tmp__Z1;
        this._anchor1X = this._relativeAnchor1X + tf1._positionX;
        this._anchor1Y = this._relativeAnchor1Y + tf1._positionY;
        this._anchor1Z = this._relativeAnchor1Z + tf1._positionZ;
        this._anchor2X = this._relativeAnchor2X + tf2._positionX;
        this._anchor2Y = this._relativeAnchor2Y + tf2._positionY;
        this._anchor2Z = this._relativeAnchor2Z + tf2._positionZ;

        var __tmp__X2;

        var __tmp__Y2;

        var __tmp__Z2;

        __tmp__X2 = tf1._rotation00 * this._localBasisX1X + tf1._rotation01 * this._localBasisX1Y + tf1._rotation02 * this._localBasisX1Z;
        __tmp__Y2 = tf1._rotation10 * this._localBasisX1X + tf1._rotation11 * this._localBasisX1Y + tf1._rotation12 * this._localBasisX1Z;
        __tmp__Z2 = tf1._rotation20 * this._localBasisX1X + tf1._rotation21 * this._localBasisX1Y + tf1._rotation22 * this._localBasisX1Z;
        this._basisX1X = __tmp__X2;
        this._basisX1Y = __tmp__Y2;
        this._basisX1Z = __tmp__Z2;

        var __tmp__X3;

        var __tmp__Y3;

        var __tmp__Z3;

        __tmp__X3 = tf1._rotation00 * this._localBasisY1X + tf1._rotation01 * this._localBasisY1Y + tf1._rotation02 * this._localBasisY1Z;
        __tmp__Y3 = tf1._rotation10 * this._localBasisY1X + tf1._rotation11 * this._localBasisY1Y + tf1._rotation12 * this._localBasisY1Z;
        __tmp__Z3 = tf1._rotation20 * this._localBasisY1X + tf1._rotation21 * this._localBasisY1Y + tf1._rotation22 * this._localBasisY1Z;
        this._basisY1X = __tmp__X3;
        this._basisY1Y = __tmp__Y3;
        this._basisY1Z = __tmp__Z3;

        var __tmp__X4;

        var __tmp__Y4;

        var __tmp__Z4;

        __tmp__X4 = tf1._rotation00 * this._localBasisZ1X + tf1._rotation01 * this._localBasisZ1Y + tf1._rotation02 * this._localBasisZ1Z;
        __tmp__Y4 = tf1._rotation10 * this._localBasisZ1X + tf1._rotation11 * this._localBasisZ1Y + tf1._rotation12 * this._localBasisZ1Z;
        __tmp__Z4 = tf1._rotation20 * this._localBasisZ1X + tf1._rotation21 * this._localBasisZ1Y + tf1._rotation22 * this._localBasisZ1Z;
        this._basisZ1X = __tmp__X4;
        this._basisZ1Y = __tmp__Y4;
        this._basisZ1Z = __tmp__Z4;

        var __tmp__X5;

        var __tmp__Y5;

        var __tmp__Z5;

        __tmp__X5 = tf2._rotation00 * this._localBasisX2X + tf2._rotation01 * this._localBasisX2Y + tf2._rotation02 * this._localBasisX2Z;
        __tmp__Y5 = tf2._rotation10 * this._localBasisX2X + tf2._rotation11 * this._localBasisX2Y + tf2._rotation12 * this._localBasisX2Z;
        __tmp__Z5 = tf2._rotation20 * this._localBasisX2X + tf2._rotation21 * this._localBasisX2Y + tf2._rotation22 * this._localBasisX2Z;
        this._basisX2X = __tmp__X5;
        this._basisX2Y = __tmp__Y5;
        this._basisX2Z = __tmp__Z5;

        var __tmp__X6;

        var __tmp__Y6;

        var __tmp__Z6;

        __tmp__X6 = tf2._rotation00 * this._localBasisY2X + tf2._rotation01 * this._localBasisY2Y + tf2._rotation02 * this._localBasisY2Z;
        __tmp__Y6 = tf2._rotation10 * this._localBasisY2X + tf2._rotation11 * this._localBasisY2Y + tf2._rotation12 * this._localBasisY2Z;
        __tmp__Z6 = tf2._rotation20 * this._localBasisY2X + tf2._rotation21 * this._localBasisY2Y + tf2._rotation22 * this._localBasisY2Z;
        this._basisY2X = __tmp__X6;
        this._basisY2Y = __tmp__Y6;
        this._basisY2Z = __tmp__Z6;

        var __tmp__X7;

        var __tmp__Y7;

        var __tmp__Z7;

        __tmp__X7 = tf2._rotation00 * this._localBasisZ2X + tf2._rotation01 * this._localBasisZ2Y + tf2._rotation02 * this._localBasisZ2Z;
        __tmp__Y7 = tf2._rotation10 * this._localBasisZ2X + tf2._rotation11 * this._localBasisZ2Y + tf2._rotation12 * this._localBasisZ2Z;
        __tmp__Z7 = tf2._rotation20 * this._localBasisZ2X + tf2._rotation21 * this._localBasisZ2Y + tf2._rotation22 * this._localBasisZ2Z;
        this._basisZ2X = __tmp__X7;
        this._basisZ2Y = __tmp__Y7;
        this._basisZ2Z = __tmp__Z7;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        info.b1 = this._b1;
        info.b2 = this._b2;
        info.numRows = 0;
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        info.b1 = this._b1;
        info.b2 = this._b2;
        info.numRows = 0;
      }
    }, {
      key: "_checkDestruction",
      value: function _checkDestruction() {
        var torqueSq = this._appliedTorqueX * this._appliedTorqueX + this._appliedTorqueY * this._appliedTorqueY + this._appliedTorqueZ * this._appliedTorqueZ;

        if (this._breakForce > 0 && this._appliedForceX * this._appliedForceX + this._appliedForceY * this._appliedForceY + this._appliedForceZ * this._appliedForceZ > this._breakForce * this._breakForce) {
          this._world.removeJoint(this);

          return;
        }

        if (this._breakTorque > 0 && torqueSq > this._breakTorque * this._breakTorque) {
          this._world.removeJoint(this);

          return;
        }
      }
    }, {
      key: "getRigidBody1",
      value: function getRigidBody1() {
        return this._b1;
      }
    }, {
      key: "getRigidBody2",
      value: function getRigidBody2() {
        return this._b2;
      }
    }, {
      key: "getType",
      value: function getType() {
        return this._type;
      }
    }, {
      key: "getAnchor1",
      value: function getAnchor1() {
        var v = new oimo.common.Vec3();
        v.x = this._anchor1X;
        v.y = this._anchor1Y;
        v.z = this._anchor1Z;
        return v;
      }
    }, {
      key: "getAnchor2",
      value: function getAnchor2() {
        var v = new oimo.common.Vec3();
        v.x = this._anchor2X;
        v.y = this._anchor2Y;
        v.z = this._anchor2Z;
        return v;
      }
    }, {
      key: "getAnchor1To",
      value: function getAnchor1To(anchor) {
        anchor.x = this._anchor1X;
        anchor.y = this._anchor1Y;
        anchor.z = this._anchor1Z;
      }
    }, {
      key: "getAnchor2To",
      value: function getAnchor2To(anchor) {
        anchor.x = this._anchor2X;
        anchor.y = this._anchor2Y;
        anchor.z = this._anchor2Z;
      }
    }, {
      key: "getLocalAnchor1",
      value: function getLocalAnchor1() {
        var v = new oimo.common.Vec3();
        v.x = this._localAnchor1X;
        v.y = this._localAnchor1Y;
        v.z = this._localAnchor1Z;
        return v;
      }
    }, {
      key: "getLocalAnchor2",
      value: function getLocalAnchor2() {
        var v = new oimo.common.Vec3();
        v.x = this._localAnchor2X;
        v.y = this._localAnchor2Y;
        v.z = this._localAnchor2Z;
        return v;
      }
    }, {
      key: "getLocalAnchor1To",
      value: function getLocalAnchor1To(localAnchor) {
        localAnchor.x = this._localAnchor1X;
        localAnchor.y = this._localAnchor1Y;
        localAnchor.z = this._localAnchor1Z;
      }
    }, {
      key: "getLocalAnchor2To",
      value: function getLocalAnchor2To(localAnchor) {
        localAnchor.x = this._localAnchor2X;
        localAnchor.y = this._localAnchor2Y;
        localAnchor.z = this._localAnchor2Z;
      }
    }, {
      key: "getBasis1",
      value: function getBasis1() {
        var m = new oimo.common.Mat3();
        var b00;
        var b01;
        var b02;
        var b10;
        var b11;
        var b12;
        var b20;
        var b21;
        var b22;
        b00 = this._basisX1X;
        b01 = this._basisY1X;
        b02 = this._basisZ1X;
        b10 = this._basisX1Y;
        b11 = this._basisY1Y;
        b12 = this._basisZ1Y;
        b20 = this._basisX1Z;
        b21 = this._basisY1Z;
        b22 = this._basisZ1Z;
        m.e00 = b00;
        m.e01 = b01;
        m.e02 = b02;
        m.e10 = b10;
        m.e11 = b11;
        m.e12 = b12;
        m.e20 = b20;
        m.e21 = b21;
        m.e22 = b22;
        return m;
      }
    }, {
      key: "getBasis2",
      value: function getBasis2() {
        var m = new oimo.common.Mat3();
        var b00;
        var b01;
        var b02;
        var b10;
        var b11;
        var b12;
        var b20;
        var b21;
        var b22;
        b00 = this._basisX2X;
        b01 = this._basisY2X;
        b02 = this._basisZ2X;
        b10 = this._basisX2Y;
        b11 = this._basisY2Y;
        b12 = this._basisZ2Y;
        b20 = this._basisX2Z;
        b21 = this._basisY2Z;
        b22 = this._basisZ2Z;
        m.e00 = b00;
        m.e01 = b01;
        m.e02 = b02;
        m.e10 = b10;
        m.e11 = b11;
        m.e12 = b12;
        m.e20 = b20;
        m.e21 = b21;
        m.e22 = b22;
        return m;
      }
    }, {
      key: "getBasis1To",
      value: function getBasis1To(basis) {
        var b00;
        var b01;
        var b02;
        var b10;
        var b11;
        var b12;
        var b20;
        var b21;
        var b22;
        b00 = this._basisX1X;
        b01 = this._basisY1X;
        b02 = this._basisZ1X;
        b10 = this._basisX1Y;
        b11 = this._basisY1Y;
        b12 = this._basisZ1Y;
        b20 = this._basisX1Z;
        b21 = this._basisY1Z;
        b22 = this._basisZ1Z;
        basis.e00 = b00;
        basis.e01 = b01;
        basis.e02 = b02;
        basis.e10 = b10;
        basis.e11 = b11;
        basis.e12 = b12;
        basis.e20 = b20;
        basis.e21 = b21;
        basis.e22 = b22;
      }
    }, {
      key: "getBasis2To",
      value: function getBasis2To(basis) {
        var b00;
        var b01;
        var b02;
        var b10;
        var b11;
        var b12;
        var b20;
        var b21;
        var b22;
        b00 = this._basisX2X;
        b01 = this._basisY2X;
        b02 = this._basisZ2X;
        b10 = this._basisX2Y;
        b11 = this._basisY2Y;
        b12 = this._basisZ2Y;
        b20 = this._basisX2Z;
        b21 = this._basisY2Z;
        b22 = this._basisZ2Z;
        basis.e00 = b00;
        basis.e01 = b01;
        basis.e02 = b02;
        basis.e10 = b10;
        basis.e11 = b11;
        basis.e12 = b12;
        basis.e20 = b20;
        basis.e21 = b21;
        basis.e22 = b22;
      }
    }, {
      key: "getAllowCollision",
      value: function getAllowCollision() {
        return this._allowCollision;
      }
    }, {
      key: "setAllowCollision",
      value: function setAllowCollision(allowCollision) {
        this._allowCollision = allowCollision;
      }
    }, {
      key: "getBreakForce",
      value: function getBreakForce() {
        return this._breakForce;
      }
    }, {
      key: "setBreakForce",
      value: function setBreakForce(breakForce) {
        this._breakForce = breakForce;
      }
    }, {
      key: "getBreakTorque",
      value: function getBreakTorque() {
        return this._breakTorque;
      }
    }, {
      key: "setBreakTorque",
      value: function setBreakTorque(breakTorque) {
        this._breakTorque = breakTorque;
      }
    }, {
      key: "getPositionCorrectionAlgorithm",
      value: function getPositionCorrectionAlgorithm() {
        return this._positionCorrectionAlgorithm;
      }
    }, {
      key: "setPositionCorrectionAlgorithm",
      value: function setPositionCorrectionAlgorithm(positionCorrectionAlgorithm) {
        switch (positionCorrectionAlgorithm) {
          case 0:
          case 1:
          case 2:
            break;

          default:
            throw new Error("invalid position correction algorithm id: " + positionCorrectionAlgorithm);
        }

        this._positionCorrectionAlgorithm = positionCorrectionAlgorithm;
      }
    }, {
      key: "getAppliedForce",
      value: function getAppliedForce() {
        var v = new oimo.common.Vec3();
        v.x = this._appliedForceX;
        v.y = this._appliedForceY;
        v.z = this._appliedForceZ;
        return v;
      }
    }, {
      key: "getAppliedForceTo",
      value: function getAppliedForceTo(appliedForce) {
        appliedForce.x = this._appliedForceX;
        appliedForce.y = this._appliedForceY;
        appliedForce.z = this._appliedForceZ;
      }
    }, {
      key: "getAppliedTorque",
      value: function getAppliedTorque() {
        var v = new oimo.common.Vec3();
        v.x = this._appliedTorqueX;
        v.y = this._appliedTorqueY;
        v.z = this._appliedTorqueZ;
        return v;
      }
    }, {
      key: "getAppliedTorqueTo",
      value: function getAppliedTorqueTo(appliedTorque) {
        appliedTorque.x = this._appliedTorqueX;
        appliedTorque.y = this._appliedTorqueY;
        appliedTorque.z = this._appliedTorqueZ;
      }
    }, {
      key: "getPrev",
      value: function getPrev() {
        return this._prev;
      }
    }, {
      key: "getNext",
      value: function getNext() {
        return this._next;
      }
    }]);

    return oimo_dynamics_constraint_joint_Joint;
  }();

  oimo.dynamics.constraint.joint.CylindricalJoint = /*#__PURE__*/function (_oimo$dynamics$constr) {
    _inherits(oimo_dynamics_constraint_joint_CylindricalJoint, _oimo$dynamics$constr);

    var _super23 = _createSuper(oimo_dynamics_constraint_joint_CylindricalJoint);

    function oimo_dynamics_constraint_joint_CylindricalJoint(config) {
      var _this215;

      _classCallCheck(this, oimo_dynamics_constraint_joint_CylindricalJoint);

      _this215 = _super23.call(this, config, 2);
      var v = config.localAxis1;
      _this215._localBasisX1X = v.x;
      _this215._localBasisX1Y = v.y;
      _this215._localBasisX1Z = v.z;
      var v1 = config.localAxis2;
      _this215._localBasisX2X = v1.x;
      _this215._localBasisX2Y = v1.y;
      _this215._localBasisX2Z = v1.z;

      _this215.buildLocalBasesFromX();

      _this215.angle = 0;
      _this215.angularErrorY = 0;
      _this215.angularErrorZ = 0;
      _this215.translation = 0;
      _this215.linearErrorY = 0;
      _this215.linearErrorZ = 0;
      _this215._basis = new oimo.dynamics.constraint.joint.BasisTracker(_assertThisInitialized(_this215));
      _this215._translSd = config.translationalSpringDamper.clone();
      _this215._translLm = config.translationalLimitMotor.clone();
      _this215._rotSd = config.rotationalSpringDamper.clone();
      _this215._rotLm = config.rotationalLimitMotor.clone();
      return _this215;
    }

    _createClass(oimo_dynamics_constraint_joint_CylindricalJoint, [{
      key: "getInfo",
      value: function getInfo(info, timeStep, isPositionPart) {
        var erp = this.getErp(timeStep, isPositionPart);
        var linRhsY = this.linearErrorY * erp;
        var linRhsZ = this.linearErrorZ * erp;
        var angRhsY = this.angularErrorY * erp;
        var angRhsZ = this.angularErrorZ * erp;
        var j;
        var translationalMotorMass = 1 / (this._b1._invMass + this._b2._invMass);
        var rotationalMotorMass = this.computeEffectiveInertiaMoment(this._basis.xX, this._basis.xY, this._basis.xZ);

        if (this._translSd.frequency <= 0 || !isPositionPart) {
          var _impulse = this._impulses[0];
          var _row = info.rows[info.numRows++];
          var _this216 = _row.jacobian;
          _this216.lin1X = 0;
          _this216.lin1Y = 0;
          _this216.lin1Z = 0;
          _this216.lin2X = 0;
          _this216.lin2Y = 0;
          _this216.lin2Z = 0;
          _this216.ang1X = 0;
          _this216.ang1Y = 0;
          _this216.ang1Z = 0;
          _this216.ang2X = 0;
          _this216.ang2Y = 0;
          _this216.ang2Z = 0;
          _row.rhs = 0;
          _row.cfm = 0;
          _row.minImpulse = 0;
          _row.maxImpulse = 0;
          _row.motorSpeed = 0;
          _row.motorMaxImpulse = 0;
          _row.impulse = null;
          _row.impulse = _impulse;
          this.setSolverInfoRowLinear(_row, this.translation, this._translLm, translationalMotorMass, this._translSd, timeStep, isPositionPart);
          j = _row.jacobian;
          j.lin1X = this._basis.xX;
          j.lin1Y = this._basis.xY;
          j.lin1Z = this._basis.xZ;
          j.lin2X = this._basis.xX;
          j.lin2Y = this._basis.xY;
          j.lin2Z = this._basis.xZ;
          j.ang1X = this._relativeAnchor1Y * this._basis.xZ - this._relativeAnchor1Z * this._basis.xY;
          j.ang1Y = this._relativeAnchor1Z * this._basis.xX - this._relativeAnchor1X * this._basis.xZ;
          j.ang1Z = this._relativeAnchor1X * this._basis.xY - this._relativeAnchor1Y * this._basis.xX;
          j.ang2X = this._relativeAnchor2Y * this._basis.xZ - this._relativeAnchor2Z * this._basis.xY;
          j.ang2Y = this._relativeAnchor2Z * this._basis.xX - this._relativeAnchor2X * this._basis.xZ;
          j.ang2Z = this._relativeAnchor2X * this._basis.xY - this._relativeAnchor2Y * this._basis.xX;
        }

        var impulse = this._impulses[1];
        var row = info.rows[info.numRows++];
        var _this = row.jacobian;
        _this.lin1X = 0;
        _this.lin1Y = 0;
        _this.lin1Z = 0;
        _this.lin2X = 0;
        _this.lin2Y = 0;
        _this.lin2Z = 0;
        _this.ang1X = 0;
        _this.ang1Y = 0;
        _this.ang1Z = 0;
        _this.ang2X = 0;
        _this.ang2Y = 0;
        _this.ang2Z = 0;
        row.rhs = 0;
        row.cfm = 0;
        row.minImpulse = 0;
        row.maxImpulse = 0;
        row.motorSpeed = 0;
        row.motorMaxImpulse = 0;
        row.impulse = null;
        row.impulse = impulse;
        row.rhs = linRhsY;
        row.cfm = 0;
        row.minImpulse = -1e65536;
        row.maxImpulse = 1e65536;
        j = row.jacobian;
        j.lin1X = this._basis.yX;
        j.lin1Y = this._basis.yY;
        j.lin1Z = this._basis.yZ;
        j.lin2X = this._basis.yX;
        j.lin2Y = this._basis.yY;
        j.lin2Z = this._basis.yZ;
        j.ang1X = this._relativeAnchor1Y * this._basis.yZ - this._relativeAnchor1Z * this._basis.yY;
        j.ang1Y = this._relativeAnchor1Z * this._basis.yX - this._relativeAnchor1X * this._basis.yZ;
        j.ang1Z = this._relativeAnchor1X * this._basis.yY - this._relativeAnchor1Y * this._basis.yX;
        j.ang2X = this._relativeAnchor2Y * this._basis.yZ - this._relativeAnchor2Z * this._basis.yY;
        j.ang2Y = this._relativeAnchor2Z * this._basis.yX - this._relativeAnchor2X * this._basis.yZ;
        j.ang2Z = this._relativeAnchor2X * this._basis.yY - this._relativeAnchor2Y * this._basis.yX;
        var impulse1 = this._impulses[2];
        var row1 = info.rows[info.numRows++];
        var _this1 = row1.jacobian;
        _this1.lin1X = 0;
        _this1.lin1Y = 0;
        _this1.lin1Z = 0;
        _this1.lin2X = 0;
        _this1.lin2Y = 0;
        _this1.lin2Z = 0;
        _this1.ang1X = 0;
        _this1.ang1Y = 0;
        _this1.ang1Z = 0;
        _this1.ang2X = 0;
        _this1.ang2Y = 0;
        _this1.ang2Z = 0;
        row1.rhs = 0;
        row1.cfm = 0;
        row1.minImpulse = 0;
        row1.maxImpulse = 0;
        row1.motorSpeed = 0;
        row1.motorMaxImpulse = 0;
        row1.impulse = null;
        row1.impulse = impulse1;
        row1.rhs = linRhsZ;
        row1.cfm = 0;
        row1.minImpulse = -1e65536;
        row1.maxImpulse = 1e65536;
        j = row1.jacobian;
        j.lin1X = this._basis.zX;
        j.lin1Y = this._basis.zY;
        j.lin1Z = this._basis.zZ;
        j.lin2X = this._basis.zX;
        j.lin2Y = this._basis.zY;
        j.lin2Z = this._basis.zZ;
        j.ang1X = this._relativeAnchor1Y * this._basis.zZ - this._relativeAnchor1Z * this._basis.zY;
        j.ang1Y = this._relativeAnchor1Z * this._basis.zX - this._relativeAnchor1X * this._basis.zZ;
        j.ang1Z = this._relativeAnchor1X * this._basis.zY - this._relativeAnchor1Y * this._basis.zX;
        j.ang2X = this._relativeAnchor2Y * this._basis.zZ - this._relativeAnchor2Z * this._basis.zY;
        j.ang2Y = this._relativeAnchor2Z * this._basis.zX - this._relativeAnchor2X * this._basis.zZ;
        j.ang2Z = this._relativeAnchor2X * this._basis.zY - this._relativeAnchor2Y * this._basis.zX;

        if (this._rotSd.frequency <= 0 || !isPositionPart) {
          var _impulse2 = this._impulses[3];
          var _row2 = info.rows[info.numRows++];
          var _this217 = _row2.jacobian;
          _this217.lin1X = 0;
          _this217.lin1Y = 0;
          _this217.lin1Z = 0;
          _this217.lin2X = 0;
          _this217.lin2Y = 0;
          _this217.lin2Z = 0;
          _this217.ang1X = 0;
          _this217.ang1Y = 0;
          _this217.ang1Z = 0;
          _this217.ang2X = 0;
          _this217.ang2Y = 0;
          _this217.ang2Z = 0;
          _row2.rhs = 0;
          _row2.cfm = 0;
          _row2.minImpulse = 0;
          _row2.maxImpulse = 0;
          _row2.motorSpeed = 0;
          _row2.motorMaxImpulse = 0;
          _row2.impulse = null;
          _row2.impulse = _impulse2;
          this.setSolverInfoRowAngular(_row2, this.angle, this._rotLm, rotationalMotorMass, this._rotSd, timeStep, isPositionPart);
          j = _row2.jacobian;
          j.ang1X = this._basis.xX;
          j.ang1Y = this._basis.xY;
          j.ang1Z = this._basis.xZ;
          j.ang2X = this._basis.xX;
          j.ang2Y = this._basis.xY;
          j.ang2Z = this._basis.xZ;
        }

        var impulse2 = this._impulses[4];
        var row2 = info.rows[info.numRows++];
        var _this2 = row2.jacobian;
        _this2.lin1X = 0;
        _this2.lin1Y = 0;
        _this2.lin1Z = 0;
        _this2.lin2X = 0;
        _this2.lin2Y = 0;
        _this2.lin2Z = 0;
        _this2.ang1X = 0;
        _this2.ang1Y = 0;
        _this2.ang1Z = 0;
        _this2.ang2X = 0;
        _this2.ang2Y = 0;
        _this2.ang2Z = 0;
        row2.rhs = 0;
        row2.cfm = 0;
        row2.minImpulse = 0;
        row2.maxImpulse = 0;
        row2.motorSpeed = 0;
        row2.motorMaxImpulse = 0;
        row2.impulse = null;
        row2.impulse = impulse2;
        row2.rhs = angRhsY;
        row2.cfm = 0;
        row2.minImpulse = -1e65536;
        row2.maxImpulse = 1e65536;
        j = row2.jacobian;
        j.ang1X = this._basis.yX;
        j.ang1Y = this._basis.yY;
        j.ang1Z = this._basis.yZ;
        j.ang2X = this._basis.yX;
        j.ang2Y = this._basis.yY;
        j.ang2Z = this._basis.yZ;
        var impulse3 = this._impulses[5];
        var row3 = info.rows[info.numRows++];
        var _this3 = row3.jacobian;
        _this3.lin1X = 0;
        _this3.lin1Y = 0;
        _this3.lin1Z = 0;
        _this3.lin2X = 0;
        _this3.lin2Y = 0;
        _this3.lin2Z = 0;
        _this3.ang1X = 0;
        _this3.ang1Y = 0;
        _this3.ang1Z = 0;
        _this3.ang2X = 0;
        _this3.ang2Y = 0;
        _this3.ang2Z = 0;
        row3.rhs = 0;
        row3.cfm = 0;
        row3.minImpulse = 0;
        row3.maxImpulse = 0;
        row3.motorSpeed = 0;
        row3.motorMaxImpulse = 0;
        row3.impulse = null;
        row3.impulse = impulse3;
        row3.rhs = angRhsZ;
        row3.cfm = 0;
        row3.minImpulse = -1e65536;
        row3.maxImpulse = 1e65536;
        j = row3.jacobian;
        j.ang1X = this._basis.zX;
        j.ang1Y = this._basis.zY;
        j.ang1Z = this._basis.zZ;
        j.ang2X = this._basis.zX;
        j.ang2Y = this._basis.zY;
        j.ang2Z = this._basis.zZ;
      }
    }, {
      key: "_syncAnchors",
      value: function _syncAnchors() {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_CylindricalJoint.prototype), "_syncAnchors", this).call(this);

        var _this = this._basis;
        var invM1 = _this.joint._b1._invMass;
        var invM2 = _this.joint._b2._invMass;
        var qX;
        var qY;
        var qZ;
        var qW;
        var idQX;
        var idQY;
        var idQZ;
        var idQW;
        var slerpQX;
        var slerpQY;
        var slerpQZ;
        var slerpQW;
        var slerpM00;
        var slerpM01;
        var slerpM02;
        var slerpM10;
        var slerpM11;
        var slerpM12;
        var slerpM20;
        var slerpM21;
        var slerpM22;
        var newXX;
        var newXY;
        var newXZ;
        var newYX;
        var newYY;
        var newYZ;
        var newZX;
        var newZY;
        var newZZ;
        var prevXX;
        var prevXY;
        var prevXZ;
        var prevYX;
        var prevYY;
        var prevYZ;
        var d = _this.joint._basisX1X * _this.joint._basisX2X + _this.joint._basisX1Y * _this.joint._basisX2Y + _this.joint._basisX1Z * _this.joint._basisX2Z;

        if (d < -0.999999999) {
          var vX;
          var vY;
          var vZ;
          var _x12 = _this.joint._basisX1X;
          var _y12 = _this.joint._basisX1Y;
          var _z12 = _this.joint._basisX1Z;

          var _x13 = _x12 * _x12;

          var _y13 = _y12 * _y12;

          var _z13 = _z12 * _z12;

          var _d41;

          if (_x13 < _y13) {
            if (_x13 < _z13) {
              _d41 = 1 / Math.sqrt(_y13 + _z13);
              vX = 0;
              vY = _z12 * _d41;
              vZ = -_y12 * _d41;
            } else {
              _d41 = 1 / Math.sqrt(_x13 + _y13);
              vX = _y12 * _d41;
              vY = -_x12 * _d41;
              vZ = 0;
            }
          } else if (_y13 < _z13) {
            _d41 = 1 / Math.sqrt(_z13 + _x13);
            vX = -_z12 * _d41;
            vY = 0;
            vZ = _x12 * _d41;
          } else {
            _d41 = 1 / Math.sqrt(_x13 + _y13);
            vX = _y12 * _d41;
            vY = -_x12 * _d41;
            vZ = 0;
          }

          qX = vX;
          qY = vY;
          qZ = vZ;
          qW = 0;
        } else {
          var cX;
          var cY;
          var cZ;
          cX = _this.joint._basisX1Y * _this.joint._basisX2Z - _this.joint._basisX1Z * _this.joint._basisX2Y;
          cY = _this.joint._basisX1Z * _this.joint._basisX2X - _this.joint._basisX1X * _this.joint._basisX2Z;
          cZ = _this.joint._basisX1X * _this.joint._basisX2Y - _this.joint._basisX1Y * _this.joint._basisX2X;

          var _w3 = Math.sqrt((1 + d) * 0.5);

          d = 0.5 / _w3;
          cX *= d;
          cY *= d;
          cZ *= d;
          qX = cX;
          qY = cY;
          qZ = cZ;
          qW = _w3;
        }

        idQX = 0;
        idQY = 0;
        idQZ = 0;
        idQW = 1;
        var q1X;
        var q1Y;
        var q1Z;
        var q1W;
        var q2X;
        var q2Y;
        var q2Z;
        var q2W;
        q1X = idQX;
        q1Y = idQY;
        q1Z = idQZ;
        q1W = idQW;
        q2X = qX;
        q2Y = qY;
        q2Z = qZ;
        q2W = qW;
        var d1 = q1X * q2X + q1Y * q2Y + q1Z * q2Z + q1W * q2W;

        if (d1 < 0) {
          d1 = -d1;
          q2X = -q2X;
          q2Y = -q2Y;
          q2Z = -q2Z;
          q2W = -q2W;
        }

        if (d1 > 0.999999) {
          var dqX;
          var dqY;
          var dqZ;
          var dqW;
          dqX = q2X - q1X;
          dqY = q2Y - q1Y;
          dqZ = q2Z - q1Z;
          dqW = q2W - q1W;
          q2X = q1X + dqX * (invM1 / (invM1 + invM2));
          q2Y = q1Y + dqY * (invM1 / (invM1 + invM2));
          q2Z = q1Z + dqZ * (invM1 / (invM1 + invM2));
          q2W = q1W + dqW * (invM1 / (invM1 + invM2));

          var _l38 = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;

          if (_l38 > 1e-32) {
            _l38 = 1 / Math.sqrt(_l38);
          }

          slerpQX = q2X * _l38;
          slerpQY = q2Y * _l38;
          slerpQZ = q2Z * _l38;
          slerpQW = q2W * _l38;
        } else {
          var _theta = invM1 / (invM1 + invM2) * Math.acos(d1);

          q2X += q1X * -d1;
          q2Y += q1Y * -d1;
          q2Z += q1Z * -d1;
          q2W += q1W * -d1;

          var _l39 = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;

          if (_l39 > 1e-32) {
            _l39 = 1 / Math.sqrt(_l39);
          }

          q2X *= _l39;
          q2Y *= _l39;
          q2Z *= _l39;
          q2W *= _l39;
          var sin = Math.sin(_theta);

          var _cos = Math.cos(_theta);

          q1X *= _cos;
          q1Y *= _cos;
          q1Z *= _cos;
          q1W *= _cos;
          slerpQX = q1X + q2X * sin;
          slerpQY = q1Y + q2Y * sin;
          slerpQZ = q1Z + q2Z * sin;
          slerpQW = q1W + q2W * sin;
        }

        var x = slerpQX;
        var y = slerpQY;
        var z = slerpQZ;
        var w = slerpQW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        slerpM00 = 1 - yy - zz;
        slerpM01 = xy - wz;
        slerpM02 = xz + wy;
        slerpM10 = xy + wz;
        slerpM11 = 1 - xx - zz;
        slerpM12 = yz - wx;
        slerpM20 = xz - wy;
        slerpM21 = yz + wx;
        slerpM22 = 1 - xx - yy;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = slerpM00 * _this.joint._basisX1X + slerpM01 * _this.joint._basisX1Y + slerpM02 * _this.joint._basisX1Z;
        __tmp__Y = slerpM10 * _this.joint._basisX1X + slerpM11 * _this.joint._basisX1Y + slerpM12 * _this.joint._basisX1Z;
        __tmp__Z = slerpM20 * _this.joint._basisX1X + slerpM21 * _this.joint._basisX1Y + slerpM22 * _this.joint._basisX1Z;
        newXX = __tmp__X;
        newXY = __tmp__Y;
        newXZ = __tmp__Z;
        prevXX = _this.xX;
        prevXY = _this.xY;
        prevXZ = _this.xZ;
        prevYX = _this.yX;
        prevYY = _this.yY;
        prevYZ = _this.yZ;
        var d2 = prevXX * newXX + prevXY * newXY + prevXZ * newXZ;

        if (d2 < -0.999999999) {
          var _vX;

          var _vY;

          var _vZ;

          var _x14 = prevXX;
          var _y14 = prevXY;
          var _z14 = prevXZ;

          var _x15 = _x14 * _x14;

          var _y15 = _y14 * _y14;

          var _z15 = _z14 * _z14;

          var _d42;

          if (_x15 < _y15) {
            if (_x15 < _z15) {
              _d42 = 1 / Math.sqrt(_y15 + _z15);
              _vX = 0;
              _vY = _z14 * _d42;
              _vZ = -_y14 * _d42;
            } else {
              _d42 = 1 / Math.sqrt(_x15 + _y15);
              _vX = _y14 * _d42;
              _vY = -_x14 * _d42;
              _vZ = 0;
            }
          } else if (_y15 < _z15) {
            _d42 = 1 / Math.sqrt(_z15 + _x15);
            _vX = -_z14 * _d42;
            _vY = 0;
            _vZ = _x14 * _d42;
          } else {
            _d42 = 1 / Math.sqrt(_x15 + _y15);
            _vX = _y14 * _d42;
            _vY = -_x14 * _d42;
            _vZ = 0;
          }

          slerpQX = _vX;
          slerpQY = _vY;
          slerpQZ = _vZ;
          slerpQW = 0;
        } else {
          var _cX;

          var _cY;

          var _cZ;

          _cX = prevXY * newXZ - prevXZ * newXY;
          _cY = prevXZ * newXX - prevXX * newXZ;
          _cZ = prevXX * newXY - prevXY * newXX;

          var _w4 = Math.sqrt((1 + d2) * 0.5);

          d2 = 0.5 / _w4;
          _cX *= d2;
          _cY *= d2;
          _cZ *= d2;
          slerpQX = _cX;
          slerpQY = _cY;
          slerpQZ = _cZ;
          slerpQW = _w4;
        }

        var x1 = slerpQX;
        var y1 = slerpQY;
        var z1 = slerpQZ;
        var w1 = slerpQW;
        var x21 = 2 * x1;
        var y21 = 2 * y1;
        var z21 = 2 * z1;
        var xx1 = x1 * x21;
        var yy1 = y1 * y21;
        var zz1 = z1 * z21;
        var xy1 = x1 * y21;
        var yz1 = y1 * z21;
        var xz1 = x1 * z21;
        var wx1 = w1 * x21;
        var wy1 = w1 * y21;
        var wz1 = w1 * z21;
        slerpM00 = 1 - yy1 - zz1;
        slerpM01 = xy1 - wz1;
        slerpM02 = xz1 + wy1;
        slerpM10 = xy1 + wz1;
        slerpM11 = 1 - xx1 - zz1;
        slerpM12 = yz1 - wx1;
        slerpM20 = xz1 - wy1;
        slerpM21 = yz1 + wx1;
        slerpM22 = 1 - xx1 - yy1;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = slerpM00 * prevYX + slerpM01 * prevYY + slerpM02 * prevYZ;
        __tmp__Y1 = slerpM10 * prevYX + slerpM11 * prevYY + slerpM12 * prevYZ;
        __tmp__Z1 = slerpM20 * prevYX + slerpM21 * prevYY + slerpM22 * prevYZ;
        newYX = __tmp__X1;
        newYY = __tmp__Y1;
        newYZ = __tmp__Z1;
        newZX = newXY * newYZ - newXZ * newYY;
        newZY = newXZ * newYX - newXX * newYZ;
        newZZ = newXX * newYY - newXY * newYX;

        if (newZX * newZX + newZY * newZY + newZZ * newZZ > 1e-6) {
          var _l40 = newZX * newZX + newZY * newZY + newZZ * newZZ;

          if (_l40 > 0) {
            _l40 = 1 / Math.sqrt(_l40);
          }

          newZX *= _l40;
          newZY *= _l40;
          newZZ *= _l40;
        } else {
          var _x16 = newXX;
          var _y16 = newXY;
          var _z16 = newXZ;

          var _x17 = _x16 * _x16;

          var _y17 = _y16 * _y16;

          var _z17 = _z16 * _z16;

          var _d43;

          if (_x17 < _y17) {
            if (_x17 < _z17) {
              _d43 = 1 / Math.sqrt(_y17 + _z17);
              newZX = 0;
              newZY = _z16 * _d43;
              newZZ = -_y16 * _d43;
            } else {
              _d43 = 1 / Math.sqrt(_x17 + _y17);
              newZX = _y16 * _d43;
              newZY = -_x16 * _d43;
              newZZ = 0;
            }
          } else if (_y17 < _z17) {
            _d43 = 1 / Math.sqrt(_z17 + _x17);
            newZX = -_z16 * _d43;
            newZY = 0;
            newZZ = _x16 * _d43;
          } else {
            _d43 = 1 / Math.sqrt(_x17 + _y17);
            newZX = _y16 * _d43;
            newZY = -_x16 * _d43;
            newZZ = 0;
          }
        }

        newYX = newZY * newXZ - newZZ * newXY;
        newYY = newZZ * newXX - newZX * newXZ;
        newYZ = newZX * newXY - newZY * newXX;
        _this.xX = newXX;
        _this.xY = newXY;
        _this.xZ = newXZ;
        _this.yX = newYX;
        _this.yY = newYY;
        _this.yZ = newYZ;
        _this.zX = newZX;
        _this.zY = newZY;
        _this.zZ = newZZ;
        var angErrorX;
        var angErrorY;
        var angErrorZ;
        angErrorX = this._basisX1Y * this._basisX2Z - this._basisX1Z * this._basisX2Y;
        angErrorY = this._basisX1Z * this._basisX2X - this._basisX1X * this._basisX2Z;
        angErrorZ = this._basisX1X * this._basisX2Y - this._basisX1Y * this._basisX2X;
        var cos = this._basisX1X * this._basisX2X + this._basisX1Y * this._basisX2Y + this._basisX1Z * this._basisX2Z;
        var theta = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);
        var l = angErrorX * angErrorX + angErrorY * angErrorY + angErrorZ * angErrorZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        angErrorX *= l;
        angErrorY *= l;
        angErrorZ *= l;
        angErrorX *= theta;
        angErrorY *= theta;
        angErrorZ *= theta;
        this.angularErrorY = angErrorX * this._basis.yX + angErrorY * this._basis.yY + angErrorZ * this._basis.yZ;
        this.angularErrorZ = angErrorX * this._basis.zX + angErrorY * this._basis.zY + angErrorZ * this._basis.zZ;
        var perpCrossX;
        var perpCrossY;
        var perpCrossZ;
        perpCrossX = this._basisY1Y * this._basisY2Z - this._basisY1Z * this._basisY2Y;
        perpCrossY = this._basisY1Z * this._basisY2X - this._basisY1X * this._basisY2Z;
        perpCrossZ = this._basisY1X * this._basisY2Y - this._basisY1Y * this._basisY2X;
        cos = this._basisY1X * this._basisY2X + this._basisY1Y * this._basisY2Y + this._basisY1Z * this._basisY2Z;
        this.angle = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);

        if (perpCrossX * this._basis.xX + perpCrossY * this._basis.xY + perpCrossZ * this._basis.xZ < 0) {
          this.angle = -this.angle;
        }

        var anchorDiffX;
        var anchorDiffY;
        var anchorDiffZ;
        anchorDiffX = this._anchor2X - this._anchor1X;
        anchorDiffY = this._anchor2Y - this._anchor1Y;
        anchorDiffZ = this._anchor2Z - this._anchor1Z;
        this.translation = anchorDiffX * this._basis.xX + anchorDiffY * this._basis.xY + anchorDiffZ * this._basis.xZ;
        this.linearErrorY = anchorDiffX * this._basis.yX + anchorDiffY * this._basis.yY + anchorDiffZ * this._basis.yZ;
        this.linearErrorZ = anchorDiffX * this._basis.zX + anchorDiffY * this._basis.zY + anchorDiffZ * this._basis.zZ;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_CylindricalJoint.prototype), "_getVelocitySolverInfo", this).call(this, timeStep, info);

        this.getInfo(info, timeStep, false);
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_CylindricalJoint.prototype), "_getPositionSolverInfo", this).call(this, info);

        this.getInfo(info, null, true);
      }
    }, {
      key: "getAxis1",
      value: function getAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX1X;
        v.y = this._basisX1Y;
        v.z = this._basisX1Z;
        return v;
      }
    }, {
      key: "getAxis2",
      value: function getAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX2X;
        v.y = this._basisX2Y;
        v.z = this._basisX2Z;
        return v;
      }
    }, {
      key: "getAxis1To",
      value: function getAxis1To(axis) {
        axis.x = this._basisX1X;
        axis.y = this._basisX1Y;
        axis.z = this._basisX1Z;
      }
    }, {
      key: "getAxis2To",
      value: function getAxis2To(axis) {
        axis.x = this._basisX2X;
        axis.y = this._basisX2Y;
        axis.z = this._basisX2Z;
      }
    }, {
      key: "getLocalAxis1",
      value: function getLocalAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX1X;
        v.y = this._localBasisX1Y;
        v.z = this._localBasisX1Z;
        return v;
      }
    }, {
      key: "getLocalAxis2",
      value: function getLocalAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX2X;
        v.y = this._localBasisX2Y;
        v.z = this._localBasisX2Z;
        return v;
      }
    }, {
      key: "getLocalAxis1To",
      value: function getLocalAxis1To(axis) {
        axis.x = this._localBasisX1X;
        axis.y = this._localBasisX1Y;
        axis.z = this._localBasisX1Z;
      }
    }, {
      key: "getLocalAxis2To",
      value: function getLocalAxis2To(axis) {
        axis.x = this._localBasisX2X;
        axis.y = this._localBasisX2Y;
        axis.z = this._localBasisX2Z;
      }
    }, {
      key: "getTranslationalSpringDamper",
      value: function getTranslationalSpringDamper() {
        return this._translSd;
      }
    }, {
      key: "getRotationalSpringDamper",
      value: function getRotationalSpringDamper() {
        return this._rotSd;
      }
    }, {
      key: "getTranslationalLimitMotor",
      value: function getTranslationalLimitMotor() {
        return this._translLm;
      }
    }, {
      key: "getRotationalLimitMotor",
      value: function getRotationalLimitMotor() {
        return this._rotLm;
      }
    }, {
      key: "getAngle",
      value: function getAngle() {
        return this.angle;
      }
    }, {
      key: "getTranslation",
      value: function getTranslation() {
        return this.translation;
      }
    }]);

    return oimo_dynamics_constraint_joint_CylindricalJoint;
  }(oimo.dynamics.constraint.joint.Joint);

  oimo.dynamics.constraint.joint.JointConfig = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_joint_JointConfig() {
      _classCallCheck(this, oimo_dynamics_constraint_joint_JointConfig);

      this.rigidBody1 = null;
      this.rigidBody2 = null;
      this.localAnchor1 = new oimo.common.Vec3();
      this.localAnchor2 = new oimo.common.Vec3();
      this.allowCollision = false;
      this.solverType = oimo.common.Setting.defaultJointConstraintSolverType;
      this.positionCorrectionAlgorithm = oimo.common.Setting.defaultJointPositionCorrectionAlgorithm;
      this.breakForce = 0;
      this.breakTorque = 0;
    }

    _createClass(oimo_dynamics_constraint_joint_JointConfig, [{
      key: "_init",
      value: function _init(rb1, rb2, worldAnchor) {
        this.rigidBody1 = rb1;
        this.rigidBody2 = rb2;
        var _this = this.rigidBody1;
        var localPoint = this.localAnchor1;
        var vX;
        var vY;
        var vZ;
        vX = worldAnchor.x;
        vY = worldAnchor.y;
        vZ = worldAnchor.z;
        vX -= _this._transform._positionX;
        vY -= _this._transform._positionY;
        vZ -= _this._transform._positionZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = _this._transform._rotation00 * vX + _this._transform._rotation10 * vY + _this._transform._rotation20 * vZ;
        __tmp__Y = _this._transform._rotation01 * vX + _this._transform._rotation11 * vY + _this._transform._rotation21 * vZ;
        __tmp__Z = _this._transform._rotation02 * vX + _this._transform._rotation12 * vY + _this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localPoint.x = vX;
        localPoint.y = vY;
        localPoint.z = vZ;
        var _this1 = this.rigidBody2;
        var localPoint1 = this.localAnchor2;
        var vX1;
        var vY1;
        var vZ1;
        vX1 = worldAnchor.x;
        vY1 = worldAnchor.y;
        vZ1 = worldAnchor.z;
        vX1 -= _this1._transform._positionX;
        vY1 -= _this1._transform._positionY;
        vZ1 -= _this1._transform._positionZ;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = _this1._transform._rotation00 * vX1 + _this1._transform._rotation10 * vY1 + _this1._transform._rotation20 * vZ1;
        __tmp__Y1 = _this1._transform._rotation01 * vX1 + _this1._transform._rotation11 * vY1 + _this1._transform._rotation21 * vZ1;
        __tmp__Z1 = _this1._transform._rotation02 * vX1 + _this1._transform._rotation12 * vY1 + _this1._transform._rotation22 * vZ1;
        vX1 = __tmp__X1;
        vY1 = __tmp__Y1;
        vZ1 = __tmp__Z1;
        localPoint1.x = vX1;
        localPoint1.y = vY1;
        localPoint1.z = vZ1;
      }
    }]);

    return oimo_dynamics_constraint_joint_JointConfig;
  }();

  oimo.dynamics.constraint.joint.CylindricalJointConfig = /*#__PURE__*/function (_oimo$dynamics$constr2) {
    _inherits(oimo_dynamics_constraint_joint_CylindricalJointConfig, _oimo$dynamics$constr2);

    var _super24 = _createSuper(oimo_dynamics_constraint_joint_CylindricalJointConfig);

    function oimo_dynamics_constraint_joint_CylindricalJointConfig() {
      var _this218;

      _classCallCheck(this, oimo_dynamics_constraint_joint_CylindricalJointConfig);

      _this218 = _super24.call(this);
      _this218.localAxis1 = new oimo.common.Vec3(1, 0, 0);
      _this218.localAxis2 = new oimo.common.Vec3(1, 0, 0);
      _this218.translationalLimitMotor = new oimo.dynamics.constraint.joint.TranslationalLimitMotor();
      _this218.translationalSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
      _this218.rotationalLimitMotor = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
      _this218.rotationalSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
      return _this218;
    }

    _createClass(oimo_dynamics_constraint_joint_CylindricalJointConfig, [{
      key: "init",
      value: function init(rigidBody1, rigidBody2, worldAnchor, worldAxis) {
        this._init(rigidBody1, rigidBody2, worldAnchor);

        var localVector = this.localAxis1;
        var vX;
        var vY;
        var vZ;
        vX = worldAxis.x;
        vY = worldAxis.y;
        vZ = worldAxis.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
        __tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
        __tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localVector.x = vX;
        localVector.y = vY;
        localVector.z = vZ;
        var localVector1 = this.localAxis2;
        var vX1;
        var vY1;
        var vZ1;
        vX1 = worldAxis.x;
        vY1 = worldAxis.y;
        vZ1 = worldAxis.z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
        __tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
        __tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
        vX1 = __tmp__X1;
        vY1 = __tmp__Y1;
        vZ1 = __tmp__Z1;
        localVector1.x = vX1;
        localVector1.y = vY1;
        localVector1.z = vZ1;
        return this;
      }
    }]);

    return oimo_dynamics_constraint_joint_CylindricalJointConfig;
  }(oimo.dynamics.constraint.joint.JointConfig);

  oimo.dynamics.constraint.joint.GenericJoint = /*#__PURE__*/function (_oimo$dynamics$constr3) {
    _inherits(oimo_dynamics_constraint_joint_GenericJoint, _oimo$dynamics$constr3);

    var _super25 = _createSuper(oimo_dynamics_constraint_joint_GenericJoint);

    function oimo_dynamics_constraint_joint_GenericJoint(config) {
      var _this219;

      _classCallCheck(this, oimo_dynamics_constraint_joint_GenericJoint);

      _this219 = _super25.call(this, config, oimo.dynamics.constraint.joint.JointType.GENERIC);
      var tmp;
      var _this = config.localBasis1;

      if (!(_this.e00 * (_this.e11 * _this.e22 - _this.e12 * _this.e21) - _this.e01 * (_this.e10 * _this.e22 - _this.e12 * _this.e20) + _this.e02 * (_this.e10 * _this.e21 - _this.e11 * _this.e20) < 0)) {
        var _this220 = config.localBasis2;
        tmp = _this220.e00 * (_this220.e11 * _this220.e22 - _this220.e12 * _this220.e21) - _this220.e01 * (_this220.e10 * _this220.e22 - _this220.e12 * _this220.e20) + _this220.e02 * (_this220.e10 * _this220.e21 - _this220.e11 * _this220.e20) < 0;
      } else {
        tmp = true;
      }

      if (tmp) {
        console.log("src/oimo/dynamics/constraint/joint/GenericJoint.hx:50:", "[warning] joint basis must be right handed");
      }

      var lb100;
      var lb101;
      var lb102;
      var lb110;
      var lb111;
      var lb112;
      var lb120;
      var lb121;
      var lb122;
      var lb200;
      var lb201;
      var lb202;
      var lb210;
      var lb211;
      var lb212;
      var lb220;
      var lb221;
      var lb222;
      var m = config.localBasis1;
      lb100 = m.e00;
      lb101 = m.e01;
      lb102 = m.e02;
      lb110 = m.e10;
      lb111 = m.e11;
      lb112 = m.e12;
      lb120 = m.e20;
      lb121 = m.e21;
      lb122 = m.e22;
      var m1 = config.localBasis2;
      lb200 = m1.e00;
      lb201 = m1.e01;
      lb202 = m1.e02;
      lb210 = m1.e10;
      lb211 = m1.e11;
      lb212 = m1.e12;
      lb220 = m1.e20;
      lb221 = m1.e21;
      lb222 = m1.e22;
      _this219._localBasisX1X = lb100;
      _this219._localBasisX1Y = lb110;
      _this219._localBasisX1Z = lb120;
      _this219._localBasisY1X = lb101;
      _this219._localBasisY1Y = lb111;
      _this219._localBasisY1Z = lb121;
      _this219._localBasisZ1X = lb102;
      _this219._localBasisZ1Y = lb112;
      _this219._localBasisZ1Z = lb122;
      _this219._localBasisX2X = lb200;
      _this219._localBasisX2Y = lb210;
      _this219._localBasisX2Z = lb220;
      _this219._localBasisY2X = lb201;
      _this219._localBasisY2Y = lb211;
      _this219._localBasisY2Z = lb221;
      _this219._localBasisZ2X = lb202;
      _this219._localBasisZ2Y = lb212;
      _this219._localBasisZ2Z = lb222;
      _this219._angleX = 0;
      _this219._angleY = 0;
      _this219._angleZ = 0;
      _this219.translationX = 0;
      _this219.translationY = 0;
      _this219.translationZ = 0;
      _this219.xSingular = false;
      _this219.ySingular = false;
      _this219.zSingular = false;
      _this219._translLms = new Array(3);
      _this219._translSds = new Array(3);
      _this219._rotLms = new Array(3);
      _this219._rotSds = new Array(3);
      _this219._translLms[0] = config.translationalLimitMotors[0].clone();
      _this219._translLms[1] = config.translationalLimitMotors[1].clone();
      _this219._translLms[2] = config.translationalLimitMotors[2].clone();
      _this219._translSds[0] = config.translationalSpringDampers[0].clone();
      _this219._translSds[1] = config.translationalSpringDampers[1].clone();
      _this219._translSds[2] = config.translationalSpringDampers[2].clone();
      _this219._rotLms[0] = config.rotationalLimitMotors[0].clone();
      _this219._rotLms[1] = config.rotationalLimitMotors[1].clone();
      _this219._rotLms[2] = config.rotationalLimitMotors[2].clone();
      _this219._rotSds[0] = config.rotationalSpringDampers[0].clone();
      _this219._rotSds[1] = config.rotationalSpringDampers[1].clone();
      _this219._rotSds[2] = config.rotationalSpringDampers[2].clone();
      return _this219;
    }

    _createClass(oimo_dynamics_constraint_joint_GenericJoint, [{
      key: "getInfo",
      value: function getInfo(info, timeStep, isPositionPart) {
        var j;
        var translMotorMass = 1 / (this._b1._invMass + this._b2._invMass);
        var motorMassX = this.computeEffectiveInertiaMoment(this._axisXX, this._axisXY, this._axisXZ);
        var motorMassY = this.computeEffectiveInertiaMoment(this._axisYX, this._axisYY, this._axisYZ);
        var motorMassZ = this.computeEffectiveInertiaMoment(this._axisZX, this._axisZY, this._axisZZ);

        if (this._translSds[0].frequency <= 0 || !isPositionPart) {
          var impulse = this._impulses[0];
          var row = info.rows[info.numRows++];
          var _this = row.jacobian;
          _this.lin1X = 0;
          _this.lin1Y = 0;
          _this.lin1Z = 0;
          _this.lin2X = 0;
          _this.lin2Y = 0;
          _this.lin2Z = 0;
          _this.ang1X = 0;
          _this.ang1Y = 0;
          _this.ang1Z = 0;
          _this.ang2X = 0;
          _this.ang2Y = 0;
          _this.ang2Z = 0;
          row.rhs = 0;
          row.cfm = 0;
          row.minImpulse = 0;
          row.maxImpulse = 0;
          row.motorSpeed = 0;
          row.motorMaxImpulse = 0;
          row.impulse = null;
          row.impulse = impulse;
          this.setSolverInfoRowLinear(row, this.translationX, this._translLms[0], translMotorMass, this._translSds[0], timeStep, isPositionPart);
          j = row.jacobian;
          j.lin1X = this._basisX1X;
          j.lin1Y = this._basisX1Y;
          j.lin1Z = this._basisX1Z;
          j.lin2X = this._basisX1X;
          j.lin2Y = this._basisX1Y;
          j.lin2Z = this._basisX1Z;
          j.ang1X = this._relativeAnchor1Y * this._basisX1Z - this._relativeAnchor1Z * this._basisX1Y;
          j.ang1Y = this._relativeAnchor1Z * this._basisX1X - this._relativeAnchor1X * this._basisX1Z;
          j.ang1Z = this._relativeAnchor1X * this._basisX1Y - this._relativeAnchor1Y * this._basisX1X;
          j.ang2X = this._relativeAnchor2Y * this._basisX1Z - this._relativeAnchor2Z * this._basisX1Y;
          j.ang2Y = this._relativeAnchor2Z * this._basisX1X - this._relativeAnchor2X * this._basisX1Z;
          j.ang2Z = this._relativeAnchor2X * this._basisX1Y - this._relativeAnchor2Y * this._basisX1X;
        }

        if (this._translSds[1].frequency <= 0 || !isPositionPart) {
          var _impulse3 = this._impulses[1];
          var _row3 = info.rows[info.numRows++];
          var _this221 = _row3.jacobian;
          _this221.lin1X = 0;
          _this221.lin1Y = 0;
          _this221.lin1Z = 0;
          _this221.lin2X = 0;
          _this221.lin2Y = 0;
          _this221.lin2Z = 0;
          _this221.ang1X = 0;
          _this221.ang1Y = 0;
          _this221.ang1Z = 0;
          _this221.ang2X = 0;
          _this221.ang2Y = 0;
          _this221.ang2Z = 0;
          _row3.rhs = 0;
          _row3.cfm = 0;
          _row3.minImpulse = 0;
          _row3.maxImpulse = 0;
          _row3.motorSpeed = 0;
          _row3.motorMaxImpulse = 0;
          _row3.impulse = null;
          _row3.impulse = _impulse3;
          this.setSolverInfoRowLinear(_row3, this.translationY, this._translLms[1], translMotorMass, this._translSds[1], timeStep, isPositionPart);
          j = _row3.jacobian;
          j.lin1X = this._basisY1X;
          j.lin1Y = this._basisY1Y;
          j.lin1Z = this._basisY1Z;
          j.lin2X = this._basisY1X;
          j.lin2Y = this._basisY1Y;
          j.lin2Z = this._basisY1Z;
          j.ang1X = this._relativeAnchor1Y * this._basisY1Z - this._relativeAnchor1Z * this._basisY1Y;
          j.ang1Y = this._relativeAnchor1Z * this._basisY1X - this._relativeAnchor1X * this._basisY1Z;
          j.ang1Z = this._relativeAnchor1X * this._basisY1Y - this._relativeAnchor1Y * this._basisY1X;
          j.ang2X = this._relativeAnchor2Y * this._basisY1Z - this._relativeAnchor2Z * this._basisY1Y;
          j.ang2Y = this._relativeAnchor2Z * this._basisY1X - this._relativeAnchor2X * this._basisY1Z;
          j.ang2Z = this._relativeAnchor2X * this._basisY1Y - this._relativeAnchor2Y * this._basisY1X;
        }

        if (this._translSds[2].frequency <= 0 || !isPositionPart) {
          var _impulse4 = this._impulses[2];
          var _row4 = info.rows[info.numRows++];
          var _this222 = _row4.jacobian;
          _this222.lin1X = 0;
          _this222.lin1Y = 0;
          _this222.lin1Z = 0;
          _this222.lin2X = 0;
          _this222.lin2Y = 0;
          _this222.lin2Z = 0;
          _this222.ang1X = 0;
          _this222.ang1Y = 0;
          _this222.ang1Z = 0;
          _this222.ang2X = 0;
          _this222.ang2Y = 0;
          _this222.ang2Z = 0;
          _row4.rhs = 0;
          _row4.cfm = 0;
          _row4.minImpulse = 0;
          _row4.maxImpulse = 0;
          _row4.motorSpeed = 0;
          _row4.motorMaxImpulse = 0;
          _row4.impulse = null;
          _row4.impulse = _impulse4;
          this.setSolverInfoRowLinear(_row4, this.translationZ, this._translLms[2], translMotorMass, this._translSds[2], timeStep, isPositionPart);
          j = _row4.jacobian;
          j.lin1X = this._basisZ1X;
          j.lin1Y = this._basisZ1Y;
          j.lin1Z = this._basisZ1Z;
          j.lin2X = this._basisZ1X;
          j.lin2Y = this._basisZ1Y;
          j.lin2Z = this._basisZ1Z;
          j.ang1X = this._relativeAnchor1Y * this._basisZ1Z - this._relativeAnchor1Z * this._basisZ1Y;
          j.ang1Y = this._relativeAnchor1Z * this._basisZ1X - this._relativeAnchor1X * this._basisZ1Z;
          j.ang1Z = this._relativeAnchor1X * this._basisZ1Y - this._relativeAnchor1Y * this._basisZ1X;
          j.ang2X = this._relativeAnchor2Y * this._basisZ1Z - this._relativeAnchor2Z * this._basisZ1Y;
          j.ang2Y = this._relativeAnchor2Z * this._basisZ1X - this._relativeAnchor2X * this._basisZ1Z;
          j.ang2Z = this._relativeAnchor2X * this._basisZ1Y - this._relativeAnchor2Y * this._basisZ1X;
        }

        if (!this.xSingular && (this._rotSds[0].frequency <= 0 || !isPositionPart)) {
          var _impulse5 = this._impulses[3];
          var _row5 = info.rows[info.numRows++];
          var _this223 = _row5.jacobian;
          _this223.lin1X = 0;
          _this223.lin1Y = 0;
          _this223.lin1Z = 0;
          _this223.lin2X = 0;
          _this223.lin2Y = 0;
          _this223.lin2Z = 0;
          _this223.ang1X = 0;
          _this223.ang1Y = 0;
          _this223.ang1Z = 0;
          _this223.ang2X = 0;
          _this223.ang2Y = 0;
          _this223.ang2Z = 0;
          _row5.rhs = 0;
          _row5.cfm = 0;
          _row5.minImpulse = 0;
          _row5.maxImpulse = 0;
          _row5.motorSpeed = 0;
          _row5.motorMaxImpulse = 0;
          _row5.impulse = null;
          _row5.impulse = _impulse5;
          this.setSolverInfoRowAngular(_row5, this._angleX, this._rotLms[0], motorMassX, this._rotSds[0], timeStep, isPositionPart);
          j = _row5.jacobian;
          j.ang1X = this._axisXX;
          j.ang1Y = this._axisXY;
          j.ang1Z = this._axisXZ;
          j.ang2X = this._axisXX;
          j.ang2Y = this._axisXY;
          j.ang2Z = this._axisXZ;
        }

        if (!this.ySingular && (this._rotSds[1].frequency <= 0 || !isPositionPart)) {
          var _impulse6 = this._impulses[4];
          var _row6 = info.rows[info.numRows++];
          var _this224 = _row6.jacobian;
          _this224.lin1X = 0;
          _this224.lin1Y = 0;
          _this224.lin1Z = 0;
          _this224.lin2X = 0;
          _this224.lin2Y = 0;
          _this224.lin2Z = 0;
          _this224.ang1X = 0;
          _this224.ang1Y = 0;
          _this224.ang1Z = 0;
          _this224.ang2X = 0;
          _this224.ang2Y = 0;
          _this224.ang2Z = 0;
          _row6.rhs = 0;
          _row6.cfm = 0;
          _row6.minImpulse = 0;
          _row6.maxImpulse = 0;
          _row6.motorSpeed = 0;
          _row6.motorMaxImpulse = 0;
          _row6.impulse = null;
          _row6.impulse = _impulse6;
          this.setSolverInfoRowAngular(_row6, this._angleY, this._rotLms[1], motorMassY, this._rotSds[1], timeStep, isPositionPart);
          j = _row6.jacobian;
          j.ang1X = this._axisYX;
          j.ang1Y = this._axisYY;
          j.ang1Z = this._axisYZ;
          j.ang2X = this._axisYX;
          j.ang2Y = this._axisYY;
          j.ang2Z = this._axisYZ;
        }

        if (!this.zSingular && (this._rotSds[2].frequency <= 0 || !isPositionPart)) {
          var _impulse7 = this._impulses[5];
          var _row7 = info.rows[info.numRows++];
          var _this225 = _row7.jacobian;
          _this225.lin1X = 0;
          _this225.lin1Y = 0;
          _this225.lin1Z = 0;
          _this225.lin2X = 0;
          _this225.lin2Y = 0;
          _this225.lin2Z = 0;
          _this225.ang1X = 0;
          _this225.ang1Y = 0;
          _this225.ang1Z = 0;
          _this225.ang2X = 0;
          _this225.ang2Y = 0;
          _this225.ang2Z = 0;
          _row7.rhs = 0;
          _row7.cfm = 0;
          _row7.minImpulse = 0;
          _row7.maxImpulse = 0;
          _row7.motorSpeed = 0;
          _row7.motorMaxImpulse = 0;
          _row7.impulse = null;
          _row7.impulse = _impulse7;
          this.setSolverInfoRowAngular(_row7, this._angleZ, this._rotLms[2], motorMassZ, this._rotSds[2], timeStep, isPositionPart);
          j = _row7.jacobian;
          j.ang1X = this._axisZX;
          j.ang1Y = this._axisZY;
          j.ang1Z = this._axisZZ;
          j.ang2X = this._axisZX;
          j.ang2Y = this._axisZY;
          j.ang2Z = this._axisZZ;
        }
      }
    }, {
      key: "_syncAnchors",
      value: function _syncAnchors() {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_GenericJoint.prototype), "_syncAnchors", this).call(this);

        var angleAxisXX;
        var angleAxisXY;
        var angleAxisXZ;
        var angleAxisYX;
        var angleAxisYY;
        var angleAxisYZ;
        var angleAxisZX;
        var angleAxisZY;
        var angleAxisZZ;
        angleAxisXX = this._basisX1X;
        angleAxisXY = this._basisX1Y;
        angleAxisXZ = this._basisX1Z;
        angleAxisZX = this._basisZ2X;
        angleAxisZY = this._basisZ2Y;
        angleAxisZZ = this._basisZ2Z;
        angleAxisYX = angleAxisZY * angleAxisXZ - angleAxisZZ * angleAxisXY;
        angleAxisYY = angleAxisZZ * angleAxisXX - angleAxisZX * angleAxisXZ;
        angleAxisYZ = angleAxisZX * angleAxisXY - angleAxisZY * angleAxisXX;
        this._axisXX = angleAxisYY * angleAxisZZ - angleAxisYZ * angleAxisZY;
        this._axisXY = angleAxisYZ * angleAxisZX - angleAxisYX * angleAxisZZ;
        this._axisXZ = angleAxisYX * angleAxisZY - angleAxisYY * angleAxisZX;
        this._axisYX = angleAxisYX;
        this._axisYY = angleAxisYY;
        this._axisYZ = angleAxisYZ;
        this._axisZX = angleAxisXY * angleAxisYZ - angleAxisXZ * angleAxisYY;
        this._axisZY = angleAxisXZ * angleAxisYX - angleAxisXX * angleAxisYZ;
        this._axisZZ = angleAxisXX * angleAxisYY - angleAxisXY * angleAxisYX;
        var l = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        this._axisXX *= l;
        this._axisXY *= l;
        this._axisXZ *= l;
        var l1 = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ;

        if (l1 > 0) {
          l1 = 1 / Math.sqrt(l1);
        }

        this._axisYX *= l1;
        this._axisYY *= l1;
        this._axisYZ *= l1;
        var l2 = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ;

        if (l2 > 0) {
          l2 = 1 / Math.sqrt(l2);
        }

        this._axisZX *= l2;
        this._axisZY *= l2;
        this._axisZZ *= l2;
        this.xSingular = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ == 0;
        this.ySingular = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ == 0;
        this.zSingular = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ == 0;
        var rot100;
        var rot101;
        var rot102;
        var rot110;
        var rot111;
        var rot112;
        var rot120;
        var rot121;
        var rot122;
        var rot200;
        var rot201;
        var rot202;
        var rot210;
        var rot211;
        var rot212;
        var rot220;
        var rot221;
        var rot222;
        rot100 = this._basisX1X;
        rot101 = this._basisY1X;
        rot102 = this._basisZ1X;
        rot110 = this._basisX1Y;
        rot111 = this._basisY1Y;
        rot112 = this._basisZ1Y;
        rot120 = this._basisX1Z;
        rot121 = this._basisY1Z;
        rot122 = this._basisZ1Z;
        rot200 = this._basisX2X;
        rot201 = this._basisY2X;
        rot202 = this._basisZ2X;
        rot210 = this._basisX2Y;
        rot211 = this._basisY2Y;
        rot212 = this._basisZ2Y;
        rot220 = this._basisX2Z;
        rot221 = this._basisY2Z;
        rot222 = this._basisZ2Z;
        var relRot00;
        var relRot01;
        var relRot02;
        var relRot11;
        var relRot12;
        var relRot21;
        var relRot22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__11;

        var __tmp__12;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = rot100 * rot200 + rot110 * rot210 + rot120 * rot220;
        __tmp__01 = rot100 * rot201 + rot110 * rot211 + rot120 * rot221;
        __tmp__02 = rot100 * rot202 + rot110 * rot212 + rot120 * rot222;
        __tmp__11 = rot101 * rot201 + rot111 * rot211 + rot121 * rot221;
        __tmp__12 = rot101 * rot202 + rot111 * rot212 + rot121 * rot222;
        __tmp__21 = rot102 * rot201 + rot112 * rot211 + rot122 * rot221;
        __tmp__22 = rot102 * rot202 + rot112 * rot212 + rot122 * rot222;
        relRot00 = __tmp__00;
        relRot01 = __tmp__01;
        relRot02 = __tmp__02;
        relRot11 = __tmp__11;
        relRot12 = __tmp__12;
        relRot21 = __tmp__21;
        relRot22 = __tmp__22;
        var anglesX;
        var anglesY;
        var anglesZ;
        var sy = relRot02;

        if (sy <= -1) {
          var xSubZ = Math.atan2(relRot21, relRot11);
          anglesX = xSubZ * 0.5;
          anglesY = -1.570796326794895;
          anglesZ = -xSubZ * 0.5;
        } else if (sy >= 1) {
          var xAddZ = Math.atan2(relRot21, relRot11);
          anglesX = xAddZ * 0.5;
          anglesY = 1.570796326794895;
          anglesZ = xAddZ * 0.5;
        } else {
          anglesX = Math.atan2(-relRot12, relRot22);
          anglesY = Math.asin(sy);
          anglesZ = Math.atan2(-relRot01, relRot00);
        }

        this._angleX = anglesX;
        this._angleY = anglesY;
        this._angleZ = anglesZ;
        var anchorDiffX;
        var anchorDiffY;
        var anchorDiffZ;
        anchorDiffX = this._anchor2X - this._anchor1X;
        anchorDiffY = this._anchor2Y - this._anchor1Y;
        anchorDiffZ = this._anchor2Z - this._anchor1Z;
        this.translationX = anchorDiffX * this._basisX1X + anchorDiffY * this._basisX1Y + anchorDiffZ * this._basisX1Z;
        this.translationY = anchorDiffX * this._basisY1X + anchorDiffY * this._basisY1Y + anchorDiffZ * this._basisY1Z;
        this.translationZ = anchorDiffX * this._basisZ1X + anchorDiffY * this._basisZ1Y + anchorDiffZ * this._basisZ1Z;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_GenericJoint.prototype), "_getVelocitySolverInfo", this).call(this, timeStep, info);

        this.getInfo(info, timeStep, false);
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_GenericJoint.prototype), "_getPositionSolverInfo", this).call(this, info);

        this.getInfo(info, null, true);
      }
    }, {
      key: "getAxisX",
      value: function getAxisX() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX1X;
        v.y = this._basisX1Y;
        v.z = this._basisX1Z;
        return v;
      }
    }, {
      key: "getAxisY",
      value: function getAxisY() {
        var v = new oimo.common.Vec3();
        v.x = this._axisYX;
        v.y = this._axisYY;
        v.z = this._axisYZ;
        return v;
      }
    }, {
      key: "getAxisZ",
      value: function getAxisZ() {
        var v = new oimo.common.Vec3();
        v.x = this._basisZ2X;
        v.y = this._basisZ2Y;
        v.z = this._basisZ2Z;
        return v;
      }
    }, {
      key: "getTranslationalSpringDampers",
      value: function getTranslationalSpringDampers() {
        return this._translSds.slice(0);
      }
    }, {
      key: "getRotationalSpringDampers",
      value: function getRotationalSpringDampers() {
        return this._translSds.slice(0);
      }
    }, {
      key: "getTranslationalLimitMotors",
      value: function getTranslationalLimitMotors() {
        return this._translLms.slice(0);
      }
    }, {
      key: "getRotationalLimitMotors",
      value: function getRotationalLimitMotors() {
        return this._rotLms.slice(0);
      }
    }, {
      key: "getAngles",
      value: function getAngles() {
        return new oimo.common.Vec3(this._angleX, this._angleY, this._angleZ);
      }
    }, {
      key: "getTranslations",
      value: function getTranslations() {
        return new oimo.common.Vec3(this.translationX, this.translationY, this.translationZ);
      }
    }]);

    return oimo_dynamics_constraint_joint_GenericJoint;
  }(oimo.dynamics.constraint.joint.Joint);

  oimo.dynamics.constraint.joint.GenericJointConfig = /*#__PURE__*/function (_oimo$dynamics$constr4) {
    _inherits(oimo_dynamics_constraint_joint_GenericJointConfig, _oimo$dynamics$constr4);

    var _super26 = _createSuper(oimo_dynamics_constraint_joint_GenericJointConfig);

    function oimo_dynamics_constraint_joint_GenericJointConfig() {
      var _this226;

      _classCallCheck(this, oimo_dynamics_constraint_joint_GenericJointConfig);

      _this226 = _super26.call(this);
      _this226.localBasis1 = new oimo.common.Mat3();
      _this226.localBasis2 = new oimo.common.Mat3();
      var _g = [];

      _g.push(new oimo.dynamics.constraint.joint.TranslationalLimitMotor().setLimits(0, 0));

      _g.push(new oimo.dynamics.constraint.joint.TranslationalLimitMotor().setLimits(0, 0));

      _g.push(new oimo.dynamics.constraint.joint.TranslationalLimitMotor().setLimits(0, 0));

      _this226.translationalLimitMotors = _g;
      var _g1 = [];

      _g1.push(new oimo.dynamics.constraint.joint.RotationalLimitMotor().setLimits(0, 0));

      _g1.push(new oimo.dynamics.constraint.joint.RotationalLimitMotor().setLimits(0, 0));

      _g1.push(new oimo.dynamics.constraint.joint.RotationalLimitMotor().setLimits(0, 0));

      _this226.rotationalLimitMotors = _g1;
      _this226.translationalSpringDampers = [new oimo.dynamics.constraint.joint.SpringDamper(), new oimo.dynamics.constraint.joint.SpringDamper(), new oimo.dynamics.constraint.joint.SpringDamper()];
      _this226.rotationalSpringDampers = [new oimo.dynamics.constraint.joint.SpringDamper(), new oimo.dynamics.constraint.joint.SpringDamper(), new oimo.dynamics.constraint.joint.SpringDamper()];
      return _this226;
    }

    _createClass(oimo_dynamics_constraint_joint_GenericJointConfig, [{
      key: "init",
      value: function init(rigidBody1, rigidBody2, worldAnchor, worldBasis1, worldBasis2) {
        this._init(rigidBody1, rigidBody2, worldAnchor);

        var tf1 = rigidBody1._transform;
        var tf2 = rigidBody2._transform;
        var wb100;
        var wb101;
        var wb102;
        var wb110;
        var wb111;
        var wb112;
        var wb120;
        var wb121;
        var wb122;
        var wb200;
        var wb201;
        var wb202;
        var wb210;
        var wb211;
        var wb212;
        var wb220;
        var wb221;
        var wb222;
        var lb100;
        var lb101;
        var lb102;
        var lb110;
        var lb111;
        var lb112;
        var lb120;
        var lb121;
        var lb122;
        var lb200;
        var lb201;
        var lb202;
        var lb210;
        var lb211;
        var lb212;
        var lb220;
        var lb221;
        var lb222;
        wb100 = worldBasis1.e00;
        wb101 = worldBasis1.e01;
        wb102 = worldBasis1.e02;
        wb110 = worldBasis1.e10;
        wb111 = worldBasis1.e11;
        wb112 = worldBasis1.e12;
        wb120 = worldBasis1.e20;
        wb121 = worldBasis1.e21;
        wb122 = worldBasis1.e22;
        wb200 = worldBasis2.e00;
        wb201 = worldBasis2.e01;
        wb202 = worldBasis2.e02;
        wb210 = worldBasis2.e10;
        wb211 = worldBasis2.e11;
        wb212 = worldBasis2.e12;
        wb220 = worldBasis2.e20;
        wb221 = worldBasis2.e21;
        wb222 = worldBasis2.e22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = tf1._rotation00 * wb100 + tf1._rotation10 * wb110 + tf1._rotation20 * wb120;
        __tmp__01 = tf1._rotation00 * wb101 + tf1._rotation10 * wb111 + tf1._rotation20 * wb121;
        __tmp__02 = tf1._rotation00 * wb102 + tf1._rotation10 * wb112 + tf1._rotation20 * wb122;
        __tmp__10 = tf1._rotation01 * wb100 + tf1._rotation11 * wb110 + tf1._rotation21 * wb120;
        __tmp__11 = tf1._rotation01 * wb101 + tf1._rotation11 * wb111 + tf1._rotation21 * wb121;
        __tmp__12 = tf1._rotation01 * wb102 + tf1._rotation11 * wb112 + tf1._rotation21 * wb122;
        __tmp__20 = tf1._rotation02 * wb100 + tf1._rotation12 * wb110 + tf1._rotation22 * wb120;
        __tmp__21 = tf1._rotation02 * wb101 + tf1._rotation12 * wb111 + tf1._rotation22 * wb121;
        __tmp__22 = tf1._rotation02 * wb102 + tf1._rotation12 * wb112 + tf1._rotation22 * wb122;
        lb100 = __tmp__00;
        lb101 = __tmp__01;
        lb102 = __tmp__02;
        lb110 = __tmp__10;
        lb111 = __tmp__11;
        lb112 = __tmp__12;
        lb120 = __tmp__20;
        lb121 = __tmp__21;
        lb122 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = tf2._rotation00 * wb200 + tf2._rotation10 * wb210 + tf2._rotation20 * wb220;
        __tmp__011 = tf2._rotation00 * wb201 + tf2._rotation10 * wb211 + tf2._rotation20 * wb221;
        __tmp__021 = tf2._rotation00 * wb202 + tf2._rotation10 * wb212 + tf2._rotation20 * wb222;
        __tmp__101 = tf2._rotation01 * wb200 + tf2._rotation11 * wb210 + tf2._rotation21 * wb220;
        __tmp__111 = tf2._rotation01 * wb201 + tf2._rotation11 * wb211 + tf2._rotation21 * wb221;
        __tmp__121 = tf2._rotation01 * wb202 + tf2._rotation11 * wb212 + tf2._rotation21 * wb222;
        __tmp__201 = tf2._rotation02 * wb200 + tf2._rotation12 * wb210 + tf2._rotation22 * wb220;
        __tmp__211 = tf2._rotation02 * wb201 + tf2._rotation12 * wb211 + tf2._rotation22 * wb221;
        __tmp__221 = tf2._rotation02 * wb202 + tf2._rotation12 * wb212 + tf2._rotation22 * wb222;
        lb200 = __tmp__001;
        lb201 = __tmp__011;
        lb202 = __tmp__021;
        lb210 = __tmp__101;
        lb211 = __tmp__111;
        lb212 = __tmp__121;
        lb220 = __tmp__201;
        lb221 = __tmp__211;
        lb222 = __tmp__221;
        var m = this.localBasis1;
        m.e00 = lb100;
        m.e01 = lb101;
        m.e02 = lb102;
        m.e10 = lb110;
        m.e11 = lb111;
        m.e12 = lb112;
        m.e20 = lb120;
        m.e21 = lb121;
        m.e22 = lb122;
        var m1 = this.localBasis2;
        m1.e00 = lb200;
        m1.e01 = lb201;
        m1.e02 = lb202;
        m1.e10 = lb210;
        m1.e11 = lb211;
        m1.e12 = lb212;
        m1.e20 = lb220;
        m1.e21 = lb221;
        m1.e22 = lb222;
        return this;
      }
    }]);

    return oimo_dynamics_constraint_joint_GenericJointConfig;
  }(oimo.dynamics.constraint.joint.JointConfig);

  oimo.dynamics.constraint.joint.JointImpulse = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_joint_JointImpulse() {
    _classCallCheck(this, oimo_dynamics_constraint_joint_JointImpulse);

    this.impulse = 0;
    this.impulseM = 0;
    this.impulseP = 0;
  });

  oimo.dynamics.constraint.joint.JointLink = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_joint_JointLink(joint) {
      _classCallCheck(this, oimo_dynamics_constraint_joint_JointLink);

      this._joint = joint;
    }

    _createClass(oimo_dynamics_constraint_joint_JointLink, [{
      key: "getContact",
      value: function getContact() {
        return this._joint;
      }
    }, {
      key: "getOther",
      value: function getOther() {
        return this._other;
      }
    }, {
      key: "getPrev",
      value: function getPrev() {
        return this._prev;
      }
    }, {
      key: "getNext",
      value: function getNext() {
        return this._next;
      }
    }]);

    return oimo_dynamics_constraint_joint_JointLink;
  }();

  oimo.dynamics.constraint.joint.JointMacro = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_joint_JointMacro() {
    _classCallCheck(this, oimo_dynamics_constraint_joint_JointMacro);
  });
  oimo.dynamics.constraint.joint.JointType = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_joint_JointType() {
    _classCallCheck(this, oimo_dynamics_constraint_joint_JointType);
  });

  oimo.dynamics.constraint.joint.PrismaticJoint = /*#__PURE__*/function (_oimo$dynamics$constr5) {
    _inherits(oimo_dynamics_constraint_joint_PrismaticJoint, _oimo$dynamics$constr5);

    var _super27 = _createSuper(oimo_dynamics_constraint_joint_PrismaticJoint);

    function oimo_dynamics_constraint_joint_PrismaticJoint(config) {
      var _this227;

      _classCallCheck(this, oimo_dynamics_constraint_joint_PrismaticJoint);

      _this227 = _super27.call(this, config, oimo.dynamics.constraint.joint.JointType.PRISMATIC);
      var v = config.localAxis1;
      _this227._localBasisX1X = v.x;
      _this227._localBasisX1Y = v.y;
      _this227._localBasisX1Z = v.z;
      var v1 = config.localAxis2;
      _this227._localBasisX2X = v1.x;
      _this227._localBasisX2Y = v1.y;
      _this227._localBasisX2Z = v1.z;

      _this227.buildLocalBasesFromX();

      _this227._basis = new oimo.dynamics.constraint.joint.BasisTracker(_assertThisInitialized(_this227));
      _this227.translation = 0;
      _this227.linearErrorY = 0;
      _this227.linearErrorZ = 0;
      _this227.angularErrorX = 0;
      _this227.angularErrorY = 0;
      _this227.angularErrorZ = 0;
      _this227._sd = config.springDamper.clone();
      _this227._lm = config.limitMotor.clone();
      return _this227;
    }

    _createClass(oimo_dynamics_constraint_joint_PrismaticJoint, [{
      key: "getInfo",
      value: function getInfo(info, timeStep, isPositionPart) {
        var erp = this.getErp(timeStep, isPositionPart);
        var linRhsY = this.linearErrorY * erp;
        var linRhsZ = this.linearErrorZ * erp;
        var angRhsX = this.angularErrorX * erp;
        var angRhsY = this.angularErrorY * erp;
        var angRhsZ = this.angularErrorZ * erp;
        var j;

        if (this._sd.frequency <= 0 || !isPositionPart) {
          var _impulse8 = this._impulses[0];
          var _row8 = info.rows[info.numRows++];
          var _this228 = _row8.jacobian;
          _this228.lin1X = 0;
          _this228.lin1Y = 0;
          _this228.lin1Z = 0;
          _this228.lin2X = 0;
          _this228.lin2Y = 0;
          _this228.lin2Z = 0;
          _this228.ang1X = 0;
          _this228.ang1Y = 0;
          _this228.ang1Z = 0;
          _this228.ang2X = 0;
          _this228.ang2Y = 0;
          _this228.ang2Z = 0;
          _row8.rhs = 0;
          _row8.cfm = 0;
          _row8.minImpulse = 0;
          _row8.maxImpulse = 0;
          _row8.motorSpeed = 0;
          _row8.motorMaxImpulse = 0;
          _row8.impulse = null;
          _row8.impulse = _impulse8;
          this.setSolverInfoRowLinear(_row8, this.translation, this._lm, 1 / (this._b1._invMass + this._b2._invMass), this._sd, timeStep, isPositionPart);
          j = _row8.jacobian;
          j.lin1X = this._basis.xX;
          j.lin1Y = this._basis.xY;
          j.lin1Z = this._basis.xZ;
          j.lin2X = this._basis.xX;
          j.lin2Y = this._basis.xY;
          j.lin2Z = this._basis.xZ;
          j.ang1X = this._relativeAnchor1Y * this._basis.xZ - this._relativeAnchor1Z * this._basis.xY;
          j.ang1Y = this._relativeAnchor1Z * this._basis.xX - this._relativeAnchor1X * this._basis.xZ;
          j.ang1Z = this._relativeAnchor1X * this._basis.xY - this._relativeAnchor1Y * this._basis.xX;
          j.ang2X = this._relativeAnchor2Y * this._basis.xZ - this._relativeAnchor2Z * this._basis.xY;
          j.ang2Y = this._relativeAnchor2Z * this._basis.xX - this._relativeAnchor2X * this._basis.xZ;
          j.ang2Z = this._relativeAnchor2X * this._basis.xY - this._relativeAnchor2Y * this._basis.xX;
        }

        var impulse = this._impulses[1];
        var row = info.rows[info.numRows++];
        var _this = row.jacobian;
        _this.lin1X = 0;
        _this.lin1Y = 0;
        _this.lin1Z = 0;
        _this.lin2X = 0;
        _this.lin2Y = 0;
        _this.lin2Z = 0;
        _this.ang1X = 0;
        _this.ang1Y = 0;
        _this.ang1Z = 0;
        _this.ang2X = 0;
        _this.ang2Y = 0;
        _this.ang2Z = 0;
        row.rhs = 0;
        row.cfm = 0;
        row.minImpulse = 0;
        row.maxImpulse = 0;
        row.motorSpeed = 0;
        row.motorMaxImpulse = 0;
        row.impulse = null;
        row.impulse = impulse;
        row.rhs = linRhsY;
        row.cfm = 0;
        row.minImpulse = -1e65536;
        row.maxImpulse = 1e65536;
        j = row.jacobian;
        j.lin1X = this._basis.yX;
        j.lin1Y = this._basis.yY;
        j.lin1Z = this._basis.yZ;
        j.lin2X = this._basis.yX;
        j.lin2Y = this._basis.yY;
        j.lin2Z = this._basis.yZ;
        j.ang1X = this._relativeAnchor1Y * this._basis.yZ - this._relativeAnchor1Z * this._basis.yY;
        j.ang1Y = this._relativeAnchor1Z * this._basis.yX - this._relativeAnchor1X * this._basis.yZ;
        j.ang1Z = this._relativeAnchor1X * this._basis.yY - this._relativeAnchor1Y * this._basis.yX;
        j.ang2X = this._relativeAnchor2Y * this._basis.yZ - this._relativeAnchor2Z * this._basis.yY;
        j.ang2Y = this._relativeAnchor2Z * this._basis.yX - this._relativeAnchor2X * this._basis.yZ;
        j.ang2Z = this._relativeAnchor2X * this._basis.yY - this._relativeAnchor2Y * this._basis.yX;
        var impulse1 = this._impulses[2];
        var row1 = info.rows[info.numRows++];
        var _this1 = row1.jacobian;
        _this1.lin1X = 0;
        _this1.lin1Y = 0;
        _this1.lin1Z = 0;
        _this1.lin2X = 0;
        _this1.lin2Y = 0;
        _this1.lin2Z = 0;
        _this1.ang1X = 0;
        _this1.ang1Y = 0;
        _this1.ang1Z = 0;
        _this1.ang2X = 0;
        _this1.ang2Y = 0;
        _this1.ang2Z = 0;
        row1.rhs = 0;
        row1.cfm = 0;
        row1.minImpulse = 0;
        row1.maxImpulse = 0;
        row1.motorSpeed = 0;
        row1.motorMaxImpulse = 0;
        row1.impulse = null;
        row1.impulse = impulse1;
        row1.rhs = linRhsZ;
        row1.cfm = 0;
        row1.minImpulse = -1e65536;
        row1.maxImpulse = 1e65536;
        j = row1.jacobian;
        j.lin1X = this._basis.zX;
        j.lin1Y = this._basis.zY;
        j.lin1Z = this._basis.zZ;
        j.lin2X = this._basis.zX;
        j.lin2Y = this._basis.zY;
        j.lin2Z = this._basis.zZ;
        j.ang1X = this._relativeAnchor1Y * this._basis.zZ - this._relativeAnchor1Z * this._basis.zY;
        j.ang1Y = this._relativeAnchor1Z * this._basis.zX - this._relativeAnchor1X * this._basis.zZ;
        j.ang1Z = this._relativeAnchor1X * this._basis.zY - this._relativeAnchor1Y * this._basis.zX;
        j.ang2X = this._relativeAnchor2Y * this._basis.zZ - this._relativeAnchor2Z * this._basis.zY;
        j.ang2Y = this._relativeAnchor2Z * this._basis.zX - this._relativeAnchor2X * this._basis.zZ;
        j.ang2Z = this._relativeAnchor2X * this._basis.zY - this._relativeAnchor2Y * this._basis.zX;
        var impulse2 = this._impulses[3];
        var row2 = info.rows[info.numRows++];
        var _this2 = row2.jacobian;
        _this2.lin1X = 0;
        _this2.lin1Y = 0;
        _this2.lin1Z = 0;
        _this2.lin2X = 0;
        _this2.lin2Y = 0;
        _this2.lin2Z = 0;
        _this2.ang1X = 0;
        _this2.ang1Y = 0;
        _this2.ang1Z = 0;
        _this2.ang2X = 0;
        _this2.ang2Y = 0;
        _this2.ang2Z = 0;
        row2.rhs = 0;
        row2.cfm = 0;
        row2.minImpulse = 0;
        row2.maxImpulse = 0;
        row2.motorSpeed = 0;
        row2.motorMaxImpulse = 0;
        row2.impulse = null;
        row2.impulse = impulse2;
        row2.rhs = angRhsX;
        row2.cfm = 0;
        row2.minImpulse = -1e65536;
        row2.maxImpulse = 1e65536;
        j = row2.jacobian;
        j.ang1X = 1;
        j.ang1Y = 0;
        j.ang1Z = 0;
        j.ang2X = 1;
        j.ang2Y = 0;
        j.ang2Z = 0;
        var impulse3 = this._impulses[4];
        var row3 = info.rows[info.numRows++];
        var _this3 = row3.jacobian;
        _this3.lin1X = 0;
        _this3.lin1Y = 0;
        _this3.lin1Z = 0;
        _this3.lin2X = 0;
        _this3.lin2Y = 0;
        _this3.lin2Z = 0;
        _this3.ang1X = 0;
        _this3.ang1Y = 0;
        _this3.ang1Z = 0;
        _this3.ang2X = 0;
        _this3.ang2Y = 0;
        _this3.ang2Z = 0;
        row3.rhs = 0;
        row3.cfm = 0;
        row3.minImpulse = 0;
        row3.maxImpulse = 0;
        row3.motorSpeed = 0;
        row3.motorMaxImpulse = 0;
        row3.impulse = null;
        row3.impulse = impulse3;
        row3.rhs = angRhsY;
        row3.cfm = 0;
        row3.minImpulse = -1e65536;
        row3.maxImpulse = 1e65536;
        j = row3.jacobian;
        j.ang1X = 0;
        j.ang1Y = 1;
        j.ang1Z = 0;
        j.ang2X = 0;
        j.ang2Y = 1;
        j.ang2Z = 0;
        var impulse4 = this._impulses[5];
        var row4 = info.rows[info.numRows++];
        var _this4 = row4.jacobian;
        _this4.lin1X = 0;
        _this4.lin1Y = 0;
        _this4.lin1Z = 0;
        _this4.lin2X = 0;
        _this4.lin2Y = 0;
        _this4.lin2Z = 0;
        _this4.ang1X = 0;
        _this4.ang1Y = 0;
        _this4.ang1Z = 0;
        _this4.ang2X = 0;
        _this4.ang2Y = 0;
        _this4.ang2Z = 0;
        row4.rhs = 0;
        row4.cfm = 0;
        row4.minImpulse = 0;
        row4.maxImpulse = 0;
        row4.motorSpeed = 0;
        row4.motorMaxImpulse = 0;
        row4.impulse = null;
        row4.impulse = impulse4;
        row4.rhs = angRhsZ;
        row4.cfm = 0;
        row4.minImpulse = -1e65536;
        row4.maxImpulse = 1e65536;
        j = row4.jacobian;
        j.ang1X = 0;
        j.ang1Y = 0;
        j.ang1Z = 1;
        j.ang2X = 0;
        j.ang2Y = 0;
        j.ang2Z = 1;
      }
    }, {
      key: "_syncAnchors",
      value: function _syncAnchors() {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_PrismaticJoint.prototype), "_syncAnchors", this).call(this);

        var _this = this._basis;
        var invM1 = _this.joint._b1._invMass;
        var invM2 = _this.joint._b2._invMass;
        var qX;
        var qY;
        var qZ;
        var qW;
        var idQX;
        var idQY;
        var idQZ;
        var idQW;
        var slerpQX;
        var slerpQY;
        var slerpQZ;
        var slerpQW;
        var slerpM00;
        var slerpM01;
        var slerpM02;
        var slerpM10;
        var slerpM11;
        var slerpM12;
        var slerpM20;
        var slerpM21;
        var slerpM22;
        var newXX;
        var newXY;
        var newXZ;
        var newYX;
        var newYY;
        var newYZ;
        var newZX;
        var newZY;
        var newZZ;
        var prevXX;
        var prevXY;
        var prevXZ;
        var prevYX;
        var prevYY;
        var prevYZ;
        var d = _this.joint._basisX1X * _this.joint._basisX2X + _this.joint._basisX1Y * _this.joint._basisX2Y + _this.joint._basisX1Z * _this.joint._basisX2Z;

        if (d < -0.999999999) {
          var vX;
          var vY;
          var vZ;
          var _x18 = _this.joint._basisX1X;
          var _y18 = _this.joint._basisX1Y;
          var _z18 = _this.joint._basisX1Z;

          var _x19 = _x18 * _x18;

          var _y19 = _y18 * _y18;

          var _z19 = _z18 * _z18;

          var _d44;

          if (_x19 < _y19) {
            if (_x19 < _z19) {
              _d44 = 1 / Math.sqrt(_y19 + _z19);
              vX = 0;
              vY = _z18 * _d44;
              vZ = -_y18 * _d44;
            } else {
              _d44 = 1 / Math.sqrt(_x19 + _y19);
              vX = _y18 * _d44;
              vY = -_x18 * _d44;
              vZ = 0;
            }
          } else if (_y19 < _z19) {
            _d44 = 1 / Math.sqrt(_z19 + _x19);
            vX = -_z18 * _d44;
            vY = 0;
            vZ = _x18 * _d44;
          } else {
            _d44 = 1 / Math.sqrt(_x19 + _y19);
            vX = _y18 * _d44;
            vY = -_x18 * _d44;
            vZ = 0;
          }

          qX = vX;
          qY = vY;
          qZ = vZ;
          qW = 0;
        } else {
          var cX;
          var cY;
          var cZ;
          cX = _this.joint._basisX1Y * _this.joint._basisX2Z - _this.joint._basisX1Z * _this.joint._basisX2Y;
          cY = _this.joint._basisX1Z * _this.joint._basisX2X - _this.joint._basisX1X * _this.joint._basisX2Z;
          cZ = _this.joint._basisX1X * _this.joint._basisX2Y - _this.joint._basisX1Y * _this.joint._basisX2X;

          var _w5 = Math.sqrt((1 + d) * 0.5);

          d = 0.5 / _w5;
          cX *= d;
          cY *= d;
          cZ *= d;
          qX = cX;
          qY = cY;
          qZ = cZ;
          qW = _w5;
        }

        idQX = 0;
        idQY = 0;
        idQZ = 0;
        idQW = 1;
        var q1X;
        var q1Y;
        var q1Z;
        var q1W;
        var q2X;
        var q2Y;
        var q2Z;
        var q2W;
        q1X = idQX;
        q1Y = idQY;
        q1Z = idQZ;
        q1W = idQW;
        q2X = qX;
        q2Y = qY;
        q2Z = qZ;
        q2W = qW;
        var d1 = q1X * q2X + q1Y * q2Y + q1Z * q2Z + q1W * q2W;

        if (d1 < 0) {
          d1 = -d1;
          q2X = -q2X;
          q2Y = -q2Y;
          q2Z = -q2Z;
          q2W = -q2W;
        }

        if (d1 > 0.999999) {
          var dqX;
          var dqY;
          var dqZ;
          var dqW;
          dqX = q2X - q1X;
          dqY = q2Y - q1Y;
          dqZ = q2Z - q1Z;
          dqW = q2W - q1W;
          q2X = q1X + dqX * (invM1 / (invM1 + invM2));
          q2Y = q1Y + dqY * (invM1 / (invM1 + invM2));
          q2Z = q1Z + dqZ * (invM1 / (invM1 + invM2));
          q2W = q1W + dqW * (invM1 / (invM1 + invM2));

          var _l41 = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;

          if (_l41 > 1e-32) {
            _l41 = 1 / Math.sqrt(_l41);
          }

          slerpQX = q2X * _l41;
          slerpQY = q2Y * _l41;
          slerpQZ = q2Z * _l41;
          slerpQW = q2W * _l41;
        } else {
          var _theta2 = invM1 / (invM1 + invM2) * Math.acos(d1);

          q2X += q1X * -d1;
          q2Y += q1Y * -d1;
          q2Z += q1Z * -d1;
          q2W += q1W * -d1;

          var _l42 = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;

          if (_l42 > 1e-32) {
            _l42 = 1 / Math.sqrt(_l42);
          }

          q2X *= _l42;
          q2Y *= _l42;
          q2Z *= _l42;
          q2W *= _l42;
          var sin = Math.sin(_theta2);
          var cos = Math.cos(_theta2);
          q1X *= cos;
          q1Y *= cos;
          q1Z *= cos;
          q1W *= cos;
          slerpQX = q1X + q2X * sin;
          slerpQY = q1Y + q2Y * sin;
          slerpQZ = q1Z + q2Z * sin;
          slerpQW = q1W + q2W * sin;
        }

        var x = slerpQX;
        var y = slerpQY;
        var z = slerpQZ;
        var w = slerpQW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        slerpM00 = 1 - yy - zz;
        slerpM01 = xy - wz;
        slerpM02 = xz + wy;
        slerpM10 = xy + wz;
        slerpM11 = 1 - xx - zz;
        slerpM12 = yz - wx;
        slerpM20 = xz - wy;
        slerpM21 = yz + wx;
        slerpM22 = 1 - xx - yy;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = slerpM00 * _this.joint._basisX1X + slerpM01 * _this.joint._basisX1Y + slerpM02 * _this.joint._basisX1Z;
        __tmp__Y = slerpM10 * _this.joint._basisX1X + slerpM11 * _this.joint._basisX1Y + slerpM12 * _this.joint._basisX1Z;
        __tmp__Z = slerpM20 * _this.joint._basisX1X + slerpM21 * _this.joint._basisX1Y + slerpM22 * _this.joint._basisX1Z;
        newXX = __tmp__X;
        newXY = __tmp__Y;
        newXZ = __tmp__Z;
        prevXX = _this.xX;
        prevXY = _this.xY;
        prevXZ = _this.xZ;
        prevYX = _this.yX;
        prevYY = _this.yY;
        prevYZ = _this.yZ;
        var d2 = prevXX * newXX + prevXY * newXY + prevXZ * newXZ;

        if (d2 < -0.999999999) {
          var _vX2;

          var _vY2;

          var _vZ2;

          var _x20 = prevXX;
          var _y20 = prevXY;
          var _z20 = prevXZ;

          var _x21 = _x20 * _x20;

          var _y21 = _y20 * _y20;

          var _z21 = _z20 * _z20;

          var _d45;

          if (_x21 < _y21) {
            if (_x21 < _z21) {
              _d45 = 1 / Math.sqrt(_y21 + _z21);
              _vX2 = 0;
              _vY2 = _z20 * _d45;
              _vZ2 = -_y20 * _d45;
            } else {
              _d45 = 1 / Math.sqrt(_x21 + _y21);
              _vX2 = _y20 * _d45;
              _vY2 = -_x20 * _d45;
              _vZ2 = 0;
            }
          } else if (_y21 < _z21) {
            _d45 = 1 / Math.sqrt(_z21 + _x21);
            _vX2 = -_z20 * _d45;
            _vY2 = 0;
            _vZ2 = _x20 * _d45;
          } else {
            _d45 = 1 / Math.sqrt(_x21 + _y21);
            _vX2 = _y20 * _d45;
            _vY2 = -_x20 * _d45;
            _vZ2 = 0;
          }

          slerpQX = _vX2;
          slerpQY = _vY2;
          slerpQZ = _vZ2;
          slerpQW = 0;
        } else {
          var _cX2;

          var _cY2;

          var _cZ2;

          _cX2 = prevXY * newXZ - prevXZ * newXY;
          _cY2 = prevXZ * newXX - prevXX * newXZ;
          _cZ2 = prevXX * newXY - prevXY * newXX;

          var _w6 = Math.sqrt((1 + d2) * 0.5);

          d2 = 0.5 / _w6;
          _cX2 *= d2;
          _cY2 *= d2;
          _cZ2 *= d2;
          slerpQX = _cX2;
          slerpQY = _cY2;
          slerpQZ = _cZ2;
          slerpQW = _w6;
        }

        var x1 = slerpQX;
        var y1 = slerpQY;
        var z1 = slerpQZ;
        var w1 = slerpQW;
        var x21 = 2 * x1;
        var y21 = 2 * y1;
        var z21 = 2 * z1;
        var xx1 = x1 * x21;
        var yy1 = y1 * y21;
        var zz1 = z1 * z21;
        var xy1 = x1 * y21;
        var yz1 = y1 * z21;
        var xz1 = x1 * z21;
        var wx1 = w1 * x21;
        var wy1 = w1 * y21;
        var wz1 = w1 * z21;
        slerpM00 = 1 - yy1 - zz1;
        slerpM01 = xy1 - wz1;
        slerpM02 = xz1 + wy1;
        slerpM10 = xy1 + wz1;
        slerpM11 = 1 - xx1 - zz1;
        slerpM12 = yz1 - wx1;
        slerpM20 = xz1 - wy1;
        slerpM21 = yz1 + wx1;
        slerpM22 = 1 - xx1 - yy1;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = slerpM00 * prevYX + slerpM01 * prevYY + slerpM02 * prevYZ;
        __tmp__Y1 = slerpM10 * prevYX + slerpM11 * prevYY + slerpM12 * prevYZ;
        __tmp__Z1 = slerpM20 * prevYX + slerpM21 * prevYY + slerpM22 * prevYZ;
        newYX = __tmp__X1;
        newYY = __tmp__Y1;
        newYZ = __tmp__Z1;
        newZX = newXY * newYZ - newXZ * newYY;
        newZY = newXZ * newYX - newXX * newYZ;
        newZZ = newXX * newYY - newXY * newYX;

        if (newZX * newZX + newZY * newZY + newZZ * newZZ > 1e-6) {
          var _l43 = newZX * newZX + newZY * newZY + newZZ * newZZ;

          if (_l43 > 0) {
            _l43 = 1 / Math.sqrt(_l43);
          }

          newZX *= _l43;
          newZY *= _l43;
          newZZ *= _l43;
        } else {
          var _x22 = newXX;
          var _y22 = newXY;
          var _z22 = newXZ;

          var _x23 = _x22 * _x22;

          var _y23 = _y22 * _y22;

          var _z23 = _z22 * _z22;

          var _d46;

          if (_x23 < _y23) {
            if (_x23 < _z23) {
              _d46 = 1 / Math.sqrt(_y23 + _z23);
              newZX = 0;
              newZY = _z22 * _d46;
              newZZ = -_y22 * _d46;
            } else {
              _d46 = 1 / Math.sqrt(_x23 + _y23);
              newZX = _y22 * _d46;
              newZY = -_x22 * _d46;
              newZZ = 0;
            }
          } else if (_y23 < _z23) {
            _d46 = 1 / Math.sqrt(_z23 + _x23);
            newZX = -_z22 * _d46;
            newZY = 0;
            newZZ = _x22 * _d46;
          } else {
            _d46 = 1 / Math.sqrt(_x23 + _y23);
            newZX = _y22 * _d46;
            newZY = -_x22 * _d46;
            newZZ = 0;
          }
        }

        newYX = newZY * newXZ - newZZ * newXY;
        newYY = newZZ * newXX - newZX * newXZ;
        newYZ = newZX * newXY - newZY * newXX;
        _this.xX = newXX;
        _this.xY = newXY;
        _this.xZ = newXZ;
        _this.yX = newYX;
        _this.yY = newYY;
        _this.yZ = newYZ;
        _this.zX = newZX;
        _this.zY = newZY;
        _this.zZ = newZZ;
        var rot100;
        var rot101;
        var rot102;
        var rot110;
        var rot111;
        var rot112;
        var rot120;
        var rot121;
        var rot122;
        var rot200;
        var rot201;
        var rot202;
        var rot210;
        var rot211;
        var rot212;
        var rot220;
        var rot221;
        var rot222;
        rot100 = this._basisX1X;
        rot101 = this._basisY1X;
        rot102 = this._basisZ1X;
        rot110 = this._basisX1Y;
        rot111 = this._basisY1Y;
        rot112 = this._basisZ1Y;
        rot120 = this._basisX1Z;
        rot121 = this._basisY1Z;
        rot122 = this._basisZ1Z;
        rot200 = this._basisX2X;
        rot201 = this._basisY2X;
        rot202 = this._basisZ2X;
        rot210 = this._basisX2Y;
        rot211 = this._basisY2Y;
        rot212 = this._basisZ2Y;
        rot220 = this._basisX2Z;
        rot221 = this._basisY2Z;
        rot222 = this._basisZ2Z;
        var relRot00;
        var relRot01;
        var relRot02;
        var relRot10;
        var relRot11;
        var relRot12;
        var relRot20;
        var relRot21;
        var relRot22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = rot200 * rot100 + rot201 * rot101 + rot202 * rot102;
        __tmp__01 = rot200 * rot110 + rot201 * rot111 + rot202 * rot112;
        __tmp__02 = rot200 * rot120 + rot201 * rot121 + rot202 * rot122;
        __tmp__10 = rot210 * rot100 + rot211 * rot101 + rot212 * rot102;
        __tmp__11 = rot210 * rot110 + rot211 * rot111 + rot212 * rot112;
        __tmp__12 = rot210 * rot120 + rot211 * rot121 + rot212 * rot122;
        __tmp__20 = rot220 * rot100 + rot221 * rot101 + rot222 * rot102;
        __tmp__21 = rot220 * rot110 + rot221 * rot111 + rot222 * rot112;
        __tmp__22 = rot220 * rot120 + rot221 * rot121 + rot222 * rot122;
        relRot00 = __tmp__00;
        relRot01 = __tmp__01;
        relRot02 = __tmp__02;
        relRot10 = __tmp__10;
        relRot11 = __tmp__11;
        relRot12 = __tmp__12;
        relRot20 = __tmp__20;
        relRot21 = __tmp__21;
        relRot22 = __tmp__22;
        var relQX;
        var relQY;
        var relQZ;
        var relQW;
        var e00 = relRot00;
        var e11 = relRot11;
        var e22 = relRot22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          relQW = 0.5 * s;
          s = 0.5 / s;
          relQX = (relRot21 - relRot12) * s;
          relQY = (relRot02 - relRot20) * s;
          relQZ = (relRot10 - relRot01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            relQX = 0.5 * s;
            s = 0.5 / s;
            relQY = (relRot01 + relRot10) * s;
            relQZ = (relRot02 + relRot20) * s;
            relQW = (relRot21 - relRot12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            relQZ = 0.5 * s;
            s = 0.5 / s;
            relQX = (relRot02 + relRot20) * s;
            relQY = (relRot12 + relRot21) * s;
            relQW = (relRot10 - relRot01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          relQY = 0.5 * s;
          s = 0.5 / s;
          relQX = (relRot01 + relRot10) * s;
          relQZ = (relRot12 + relRot21) * s;
          relQW = (relRot02 - relRot20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          relQZ = 0.5 * s;
          s = 0.5 / s;
          relQX = (relRot02 + relRot20) * s;
          relQY = (relRot12 + relRot21) * s;
          relQW = (relRot10 - relRot01) * s;
        }

        var cosHalfTheta = relQW;
        var theta = (cosHalfTheta <= -1 ? 3.14159265358979 : cosHalfTheta >= 1 ? 0 : Math.acos(cosHalfTheta)) * 2;
        this.angularErrorX = relQX;
        this.angularErrorY = relQY;
        this.angularErrorZ = relQZ;
        var l = this.angularErrorX * this.angularErrorX + this.angularErrorY * this.angularErrorY + this.angularErrorZ * this.angularErrorZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        this.angularErrorX *= l;
        this.angularErrorY *= l;
        this.angularErrorZ *= l;
        this.angularErrorX *= theta;
        this.angularErrorY *= theta;
        this.angularErrorZ *= theta;
        var anchorDiffX;
        var anchorDiffY;
        var anchorDiffZ;
        anchorDiffX = this._anchor2X - this._anchor1X;
        anchorDiffY = this._anchor2Y - this._anchor1Y;
        anchorDiffZ = this._anchor2Z - this._anchor1Z;
        this.translation = anchorDiffX * this._basis.xX + anchorDiffY * this._basis.xY + anchorDiffZ * this._basis.xZ;
        this.linearErrorY = anchorDiffX * this._basis.yX + anchorDiffY * this._basis.yY + anchorDiffZ * this._basis.yZ;
        this.linearErrorZ = anchorDiffX * this._basis.zX + anchorDiffY * this._basis.zY + anchorDiffZ * this._basis.zZ;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_PrismaticJoint.prototype), "_getVelocitySolverInfo", this).call(this, timeStep, info);

        this.getInfo(info, timeStep, false);
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_PrismaticJoint.prototype), "_getPositionSolverInfo", this).call(this, info);

        this.getInfo(info, null, true);
      }
    }, {
      key: "getAxis1",
      value: function getAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX1X;
        v.y = this._basisX1Y;
        v.z = this._basisX1Z;
        return v;
      }
    }, {
      key: "getAxis2",
      value: function getAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX2X;
        v.y = this._basisX2Y;
        v.z = this._basisX2Z;
        return v;
      }
    }, {
      key: "getAxis1To",
      value: function getAxis1To(axis) {
        axis.x = this._basisX1X;
        axis.y = this._basisX1Y;
        axis.z = this._basisX1Z;
      }
    }, {
      key: "getAxis2To",
      value: function getAxis2To(axis) {
        axis.x = this._basisX2X;
        axis.y = this._basisX2Y;
        axis.z = this._basisX2Z;
      }
    }, {
      key: "getLocalAxis1",
      value: function getLocalAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX1X;
        v.y = this._localBasisX1Y;
        v.z = this._localBasisX1Z;
        return v;
      }
    }, {
      key: "getLocalAxis2",
      value: function getLocalAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX2X;
        v.y = this._localBasisX2Y;
        v.z = this._localBasisX2Z;
        return v;
      }
    }, {
      key: "getLocalAxis1To",
      value: function getLocalAxis1To(axis) {
        axis.x = this._localBasisX1X;
        axis.y = this._localBasisX1Y;
        axis.z = this._localBasisX1Z;
      }
    }, {
      key: "getLocalAxis2To",
      value: function getLocalAxis2To(axis) {
        axis.x = this._localBasisX2X;
        axis.y = this._localBasisX2Y;
        axis.z = this._localBasisX2Z;
      }
    }, {
      key: "getSpringDamper",
      value: function getSpringDamper() {
        return this._sd;
      }
    }, {
      key: "getLimitMotor",
      value: function getLimitMotor() {
        return this._lm;
      }
    }, {
      key: "getTranslation",
      value: function getTranslation() {
        return this.translation;
      }
    }]);

    return oimo_dynamics_constraint_joint_PrismaticJoint;
  }(oimo.dynamics.constraint.joint.Joint);

  oimo.dynamics.constraint.joint.PrismaticJointConfig = /*#__PURE__*/function (_oimo$dynamics$constr6) {
    _inherits(oimo_dynamics_constraint_joint_PrismaticJointConfig, _oimo$dynamics$constr6);

    var _super28 = _createSuper(oimo_dynamics_constraint_joint_PrismaticJointConfig);

    function oimo_dynamics_constraint_joint_PrismaticJointConfig() {
      var _this229;

      _classCallCheck(this, oimo_dynamics_constraint_joint_PrismaticJointConfig);

      _this229 = _super28.call(this);
      _this229.localAxis1 = new oimo.common.Vec3(1, 0, 0);
      _this229.localAxis2 = new oimo.common.Vec3(1, 0, 0);
      _this229.limitMotor = new oimo.dynamics.constraint.joint.TranslationalLimitMotor();
      _this229.springDamper = new oimo.dynamics.constraint.joint.SpringDamper();
      return _this229;
    }

    _createClass(oimo_dynamics_constraint_joint_PrismaticJointConfig, [{
      key: "init",
      value: function init(rigidBody1, rigidBody2, worldAnchor, worldAxis) {
        this._init(rigidBody1, rigidBody2, worldAnchor);

        var localVector = this.localAxis1;
        var vX;
        var vY;
        var vZ;
        vX = worldAxis.x;
        vY = worldAxis.y;
        vZ = worldAxis.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
        __tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
        __tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localVector.x = vX;
        localVector.y = vY;
        localVector.z = vZ;
        var localVector1 = this.localAxis2;
        var vX1;
        var vY1;
        var vZ1;
        vX1 = worldAxis.x;
        vY1 = worldAxis.y;
        vZ1 = worldAxis.z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
        __tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
        __tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
        vX1 = __tmp__X1;
        vY1 = __tmp__Y1;
        vZ1 = __tmp__Z1;
        localVector1.x = vX1;
        localVector1.y = vY1;
        localVector1.z = vZ1;
        return this;
      }
    }]);

    return oimo_dynamics_constraint_joint_PrismaticJointConfig;
  }(oimo.dynamics.constraint.joint.JointConfig);

  oimo.dynamics.constraint.joint.RagdollJoint = /*#__PURE__*/function (_oimo$dynamics$constr7) {
    _inherits(oimo_dynamics_constraint_joint_RagdollJoint, _oimo$dynamics$constr7);

    var _super29 = _createSuper(oimo_dynamics_constraint_joint_RagdollJoint);

    function oimo_dynamics_constraint_joint_RagdollJoint(config) {
      var _this230;

      _classCallCheck(this, oimo_dynamics_constraint_joint_RagdollJoint);

      _this230 = _super29.call(this, config, oimo.dynamics.constraint.joint.JointType.RAGDOLL);
      var v = config.localTwistAxis1;
      _this230._localBasisX1X = v.x;
      _this230._localBasisX1Y = v.y;
      _this230._localBasisX1Z = v.z;
      var v1 = config.localSwingAxis1;
      _this230._localBasisY1X = v1.x;
      _this230._localBasisY1Y = v1.y;
      _this230._localBasisY1Z = v1.z;
      var v2 = config.localTwistAxis2;
      _this230._localBasisX2X = v2.x;
      _this230._localBasisX2Y = v2.y;
      _this230._localBasisX2Z = v2.z;

      _this230.buildLocalBasesFromXY1X2();

      _this230._twistSd = config.twistSpringDamper.clone();
      _this230._twistLm = config.twistLimitMotor.clone();
      _this230._swingSd = config.swingSpringDamper.clone();
      _this230._maxSwingAngle1 = config.maxSwingAngle1;
      _this230._maxSwingAngle2 = config.maxSwingAngle2;

      if (_this230._maxSwingAngle1 < oimo.common.Setting.minRagdollMaxSwingAngle) {
        _this230._maxSwingAngle1 = oimo.common.Setting.minRagdollMaxSwingAngle;
      }

      if (_this230._maxSwingAngle2 < oimo.common.Setting.minRagdollMaxSwingAngle) {
        _this230._maxSwingAngle2 = oimo.common.Setting.minRagdollMaxSwingAngle;
      }

      _this230.dummySwingLm = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
      _this230.dummySwingLm.lowerLimit = -1;
      _this230.dummySwingLm.upperLimit = 0;
      _this230._swingAngle = 0;
      _this230._twistAngle = 0;
      _this230.swingError = 0;
      _this230.swingAxisX = 0;
      _this230.swingAxisY = 0;
      _this230.swingAxisZ = 0;
      _this230.twistAxisX = 0;
      _this230.twistAxisY = 0;
      _this230.twistAxisZ = 0;
      return _this230;
    }

    _createClass(oimo_dynamics_constraint_joint_RagdollJoint, [{
      key: "getInfo",
      value: function getInfo(info, timeStep, isPositionPart) {
        var erp = this.getErp(timeStep, isPositionPart);
        var linearRhsX;
        var linearRhsY;
        var linearRhsZ;
        linearRhsX = this.linearErrorX * erp;
        linearRhsY = this.linearErrorY * erp;
        linearRhsZ = this.linearErrorZ * erp;
        var crossR100;
        var crossR101;
        var crossR102;
        var crossR110;
        var crossR111;
        var crossR112;
        var crossR120;
        var crossR121;
        var crossR122;
        var crossR200;
        var crossR201;
        var crossR202;
        var crossR210;
        var crossR211;
        var crossR212;
        var crossR220;
        var crossR221;
        var crossR222;
        crossR100 = 0;
        crossR101 = -this._relativeAnchor1Z;
        crossR102 = this._relativeAnchor1Y;
        crossR110 = this._relativeAnchor1Z;
        crossR111 = 0;
        crossR112 = -this._relativeAnchor1X;
        crossR120 = -this._relativeAnchor1Y;
        crossR121 = this._relativeAnchor1X;
        crossR122 = 0;
        crossR200 = 0;
        crossR201 = -this._relativeAnchor2Z;
        crossR202 = this._relativeAnchor2Y;
        crossR210 = this._relativeAnchor2Z;
        crossR211 = 0;
        crossR212 = -this._relativeAnchor2X;
        crossR220 = -this._relativeAnchor2Y;
        crossR221 = this._relativeAnchor2X;
        crossR222 = 0;
        crossR100 = -crossR100;
        crossR101 = -crossR101;
        crossR102 = -crossR102;
        crossR110 = -crossR110;
        crossR111 = -crossR111;
        crossR112 = -crossR112;
        crossR120 = -crossR120;
        crossR121 = -crossR121;
        crossR122 = -crossR122;
        crossR200 = -crossR200;
        crossR201 = -crossR201;
        crossR202 = -crossR202;
        crossR210 = -crossR210;
        crossR211 = -crossR211;
        crossR212 = -crossR212;
        crossR220 = -crossR220;
        crossR221 = -crossR221;
        crossR222 = -crossR222;
        var swingMass = this.computeEffectiveInertiaMoment(this.swingAxisX, this.swingAxisY, this.swingAxisZ);
        var twistMass = this.computeEffectiveInertiaMoment(this._basisX2X, this._basisX2Y, this._basisX2Z);
        var impulse = this._impulses[0];
        var row = info.rows[info.numRows++];
        var _this = row.jacobian;
        _this.lin1X = 0;
        _this.lin1Y = 0;
        _this.lin1Z = 0;
        _this.lin2X = 0;
        _this.lin2Y = 0;
        _this.lin2Z = 0;
        _this.ang1X = 0;
        _this.ang1Y = 0;
        _this.ang1Z = 0;
        _this.ang2X = 0;
        _this.ang2Y = 0;
        _this.ang2Z = 0;
        row.rhs = 0;
        row.cfm = 0;
        row.minImpulse = 0;
        row.maxImpulse = 0;
        row.motorSpeed = 0;
        row.motorMaxImpulse = 0;
        row.impulse = null;
        row.impulse = impulse;
        row.rhs = linearRhsX;
        row.cfm = 0;
        row.minImpulse = -1e65536;
        row.maxImpulse = 1e65536;
        var j = row.jacobian;
        j.lin1X = 1;
        j.lin1Y = 0;
        j.lin1Z = 0;
        j.lin2X = 1;
        j.lin2Y = 0;
        j.lin2Z = 0;
        j.ang1X = crossR100;
        j.ang1Y = crossR101;
        j.ang1Z = crossR102;
        j.ang2X = crossR200;
        j.ang2Y = crossR201;
        j.ang2Z = crossR202;
        var impulse1 = this._impulses[1];
        var row1 = info.rows[info.numRows++];
        var _this1 = row1.jacobian;
        _this1.lin1X = 0;
        _this1.lin1Y = 0;
        _this1.lin1Z = 0;
        _this1.lin2X = 0;
        _this1.lin2Y = 0;
        _this1.lin2Z = 0;
        _this1.ang1X = 0;
        _this1.ang1Y = 0;
        _this1.ang1Z = 0;
        _this1.ang2X = 0;
        _this1.ang2Y = 0;
        _this1.ang2Z = 0;
        row1.rhs = 0;
        row1.cfm = 0;
        row1.minImpulse = 0;
        row1.maxImpulse = 0;
        row1.motorSpeed = 0;
        row1.motorMaxImpulse = 0;
        row1.impulse = null;
        row1.impulse = impulse1;
        row1.rhs = linearRhsY;
        row1.cfm = 0;
        row1.minImpulse = -1e65536;
        row1.maxImpulse = 1e65536;
        j = row1.jacobian;
        j.lin1X = 0;
        j.lin1Y = 1;
        j.lin1Z = 0;
        j.lin2X = 0;
        j.lin2Y = 1;
        j.lin2Z = 0;
        j.ang1X = crossR110;
        j.ang1Y = crossR111;
        j.ang1Z = crossR112;
        j.ang2X = crossR210;
        j.ang2Y = crossR211;
        j.ang2Z = crossR212;
        var impulse2 = this._impulses[2];
        var row2 = info.rows[info.numRows++];
        var _this2 = row2.jacobian;
        _this2.lin1X = 0;
        _this2.lin1Y = 0;
        _this2.lin1Z = 0;
        _this2.lin2X = 0;
        _this2.lin2Y = 0;
        _this2.lin2Z = 0;
        _this2.ang1X = 0;
        _this2.ang1Y = 0;
        _this2.ang1Z = 0;
        _this2.ang2X = 0;
        _this2.ang2Y = 0;
        _this2.ang2Z = 0;
        row2.rhs = 0;
        row2.cfm = 0;
        row2.minImpulse = 0;
        row2.maxImpulse = 0;
        row2.motorSpeed = 0;
        row2.motorMaxImpulse = 0;
        row2.impulse = null;
        row2.impulse = impulse2;
        row2.rhs = linearRhsZ;
        row2.cfm = 0;
        row2.minImpulse = -1e65536;
        row2.maxImpulse = 1e65536;
        j = row2.jacobian;
        j.lin1X = 0;
        j.lin1Y = 0;
        j.lin1Z = 1;
        j.lin2X = 0;
        j.lin2Y = 0;
        j.lin2Z = 1;
        j.ang1X = crossR120;
        j.ang1Y = crossR121;
        j.ang1Z = crossR122;
        j.ang2X = crossR220;
        j.ang2Y = crossR221;
        j.ang2Z = crossR222;

        if (this.swingError > 0 && (this._swingSd.frequency <= 0 || !isPositionPart)) {
          var _impulse9 = this._impulses[3];
          var _row9 = info.rows[info.numRows++];
          var _this231 = _row9.jacobian;
          _this231.lin1X = 0;
          _this231.lin1Y = 0;
          _this231.lin1Z = 0;
          _this231.lin2X = 0;
          _this231.lin2Y = 0;
          _this231.lin2Z = 0;
          _this231.ang1X = 0;
          _this231.ang1Y = 0;
          _this231.ang1Z = 0;
          _this231.ang2X = 0;
          _this231.ang2Y = 0;
          _this231.ang2Z = 0;
          _row9.rhs = 0;
          _row9.cfm = 0;
          _row9.minImpulse = 0;
          _row9.maxImpulse = 0;
          _row9.motorSpeed = 0;
          _row9.motorMaxImpulse = 0;
          _row9.impulse = null;
          _row9.impulse = _impulse9;
          this.setSolverInfoRowAngular(_row9, this.swingError, this.dummySwingLm, swingMass, this._swingSd, timeStep, isPositionPart);
          j = _row9.jacobian;
          j.ang1X = this.swingAxisX;
          j.ang1Y = this.swingAxisY;
          j.ang1Z = this.swingAxisZ;
          j.ang2X = this.swingAxisX;
          j.ang2Y = this.swingAxisY;
          j.ang2Z = this.swingAxisZ;
        }

        if (this._twistSd.frequency <= 0 || !isPositionPart) {
          var _impulse10 = this._impulses[4];
          var _row10 = info.rows[info.numRows++];
          var _this232 = _row10.jacobian;
          _this232.lin1X = 0;
          _this232.lin1Y = 0;
          _this232.lin1Z = 0;
          _this232.lin2X = 0;
          _this232.lin2Y = 0;
          _this232.lin2Z = 0;
          _this232.ang1X = 0;
          _this232.ang1Y = 0;
          _this232.ang1Z = 0;
          _this232.ang2X = 0;
          _this232.ang2Y = 0;
          _this232.ang2Z = 0;
          _row10.rhs = 0;
          _row10.cfm = 0;
          _row10.minImpulse = 0;
          _row10.maxImpulse = 0;
          _row10.motorSpeed = 0;
          _row10.motorMaxImpulse = 0;
          _row10.impulse = null;
          _row10.impulse = _impulse10;
          this.setSolverInfoRowAngular(_row10, this._twistAngle, this._twistLm, twistMass, this._twistSd, timeStep, isPositionPart);
          j = _row10.jacobian;
          j.ang1X = this.twistAxisX;
          j.ang1Y = this.twistAxisY;
          j.ang1Z = this.twistAxisZ;
          j.ang2X = this.twistAxisX;
          j.ang2Y = this.twistAxisY;
          j.ang2Z = this.twistAxisZ;
        }
      }
    }, {
      key: "_syncAnchors",
      value: function _syncAnchors() {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_RagdollJoint.prototype), "_syncAnchors", this).call(this);

        var axis1X;
        var axis1Y;
        var axis1Z;
        var axis2X;
        var axis2Y;
        var axis2Z;
        axis1X = this._basisX1X;
        axis1Y = this._basisX1Y;
        axis1Z = this._basisX1Z;
        axis2X = this._basisX2X;
        axis2Y = this._basisX2Y;
        axis2Z = this._basisX2Z;
        var basis1Mat00;
        var basis1Mat01;
        var basis1Mat02;
        var basis1Mat10;
        var basis1Mat11;
        var basis1Mat12;
        var basis1Mat20;
        var basis1Mat21;
        var basis1Mat22;
        basis1Mat00 = this._basisX1X;
        basis1Mat01 = this._basisY1X;
        basis1Mat02 = this._basisZ1X;
        basis1Mat10 = this._basisX1Y;
        basis1Mat11 = this._basisY1Y;
        basis1Mat12 = this._basisZ1Y;
        basis1Mat20 = this._basisX1Z;
        basis1Mat21 = this._basisY1Z;
        basis1Mat22 = this._basisZ1Z;
        var swingQX;
        var swingQY;
        var swingQZ;
        var swingQW;
        var swingM00;
        var swingM01;
        var swingM02;
        var swingM10;
        var swingM11;
        var swingM12;
        var swingM20;
        var swingM21;
        var swingM22;
        var swingVX;
        var swingVY;
        var swingVZ;
        var d = axis1X * axis2X + axis1Y * axis2Y + axis1Z * axis2Z;

        if (d < -0.999999999) {
          var vX;
          var vY;
          var vZ;
          var _x24 = axis1X;
          var _y24 = axis1Y;
          var z1 = axis1Z;

          var _x25 = _x24 * _x24;

          var _y25 = _y24 * _y24;

          var _z24 = z1 * z1;

          var _d47;

          if (_x25 < _y25) {
            if (_x25 < _z24) {
              _d47 = 1 / Math.sqrt(_y25 + _z24);
              vX = 0;
              vY = z1 * _d47;
              vZ = -_y24 * _d47;
            } else {
              _d47 = 1 / Math.sqrt(_x25 + _y25);
              vX = _y24 * _d47;
              vY = -_x24 * _d47;
              vZ = 0;
            }
          } else if (_y25 < _z24) {
            _d47 = 1 / Math.sqrt(_z24 + _x25);
            vX = -z1 * _d47;
            vY = 0;
            vZ = _x24 * _d47;
          } else {
            _d47 = 1 / Math.sqrt(_x25 + _y25);
            vX = _y24 * _d47;
            vY = -_x24 * _d47;
            vZ = 0;
          }

          swingQX = vX;
          swingQY = vY;
          swingQZ = vZ;
          swingQW = 0;
        } else {
          var cX;
          var cY;
          var cZ;
          cX = axis1Y * axis2Z - axis1Z * axis2Y;
          cY = axis1Z * axis2X - axis1X * axis2Z;
          cZ = axis1X * axis2Y - axis1Y * axis2X;

          var _w7 = Math.sqrt((1 + d) * 0.5);

          d = 0.5 / _w7;
          cX *= d;
          cY *= d;
          cZ *= d;
          swingQX = cX;
          swingQY = cY;
          swingQZ = cZ;
          swingQW = _w7;
        }

        var x = swingQX;
        var y = swingQY;
        var z = swingQZ;
        var w = swingQW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        swingM00 = 1 - yy - zz;
        swingM01 = xy - wz;
        swingM02 = xz + wy;
        swingM10 = xy + wz;
        swingM11 = 1 - xx - zz;
        swingM12 = yz - wx;
        swingM20 = xz - wy;
        swingM21 = yz + wx;
        swingM22 = 1 - xx - yy;
        this._swingAngle = (swingQW <= -1 ? 3.14159265358979 : swingQW >= 1 ? 0 : Math.acos(swingQW)) * 2;
        swingVX = swingQX;
        swingVY = swingQY;
        swingVZ = swingQZ;
        var basisY2In1X;
        var basisY2In1Y;
        var basisY2In1Z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = swingM00 * this._basisY2X + swingM10 * this._basisY2Y + swingM20 * this._basisY2Z;
        __tmp__Y = swingM01 * this._basisY2X + swingM11 * this._basisY2Y + swingM21 * this._basisY2Z;
        __tmp__Z = swingM02 * this._basisY2X + swingM12 * this._basisY2Y + swingM22 * this._basisY2Z;
        basisY2In1X = __tmp__X;
        basisY2In1Y = __tmp__Y;
        basisY2In1Z = __tmp__Z;
        this._twistAngle = Math.atan2(this._basisZ1X * basisY2In1X + this._basisZ1Y * basisY2In1Y + this._basisZ1Z * basisY2In1Z, this._basisY1X * basisY2In1X + this._basisY1Y * basisY2In1Y + this._basisY1Z * basisY2In1Z);
        this.twistAxisX = this._basisX1X + this._basisX2X;
        this.twistAxisY = this._basisX1Y + this._basisX2Y;
        this.twistAxisZ = this._basisX1Z + this._basisX2Z;
        var l = this.twistAxisX * this.twistAxisX + this.twistAxisY * this.twistAxisY + this.twistAxisZ * this.twistAxisZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        this.twistAxisX *= l;
        this.twistAxisY *= l;
        this.twistAxisZ *= l;
        var invLen = Math.sqrt(swingVX * swingVX + swingVY * swingVY + swingVZ * swingVZ);

        if (invLen > 0) {
          invLen = 1 / invLen;
        }

        swingVX *= invLen * this._swingAngle;
        swingVY *= invLen * this._swingAngle;
        swingVZ *= invLen * this._swingAngle;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__Y1 = basis1Mat01 * swingVX + basis1Mat11 * swingVY + basis1Mat21 * swingVZ;
        __tmp__Z1 = basis1Mat02 * swingVX + basis1Mat12 * swingVY + basis1Mat22 * swingVZ;
        swingVY = __tmp__Y1;
        swingVZ = __tmp__Z1;
        var x1 = swingVY;
        var y1 = swingVZ;
        var a = this._maxSwingAngle1;
        var b = this._maxSwingAngle2;
        var invA2 = 1 / (a * a);
        var invB2 = 1 / (b * b);
        var w1 = x1 * x1 * invA2 + y1 * y1 * invB2;

        if (w1 == 0) {
          this.swingAxisX = 0;
          this.swingAxisY = 0;
          this.swingAxisZ = 0;
          this.swingError = 0;
        } else {
          var t = Math.sqrt(1 / w1);
          var x0 = x1 * t;
          var y0 = y1 * t;
          var nx = x0 * invA2;
          var ny = y0 * invB2;
          invLen = 1 / Math.sqrt(nx * nx + ny * ny);
          nx *= invLen;
          ny *= invLen;
          var depth = (x1 - x0) * nx + (y1 - y0) * ny;

          if (depth > 0) {
            this.swingError = depth;
            this.swingAxisX = 0;
            this.swingAxisY = nx;
            this.swingAxisZ = ny;

            var _tmp__X10;

            var _tmp__Y10;

            var _tmp__Z10;

            _tmp__X10 = basis1Mat00 * this.swingAxisX + basis1Mat01 * this.swingAxisY + basis1Mat02 * this.swingAxisZ;
            _tmp__Y10 = basis1Mat10 * this.swingAxisX + basis1Mat11 * this.swingAxisY + basis1Mat12 * this.swingAxisZ;
            _tmp__Z10 = basis1Mat20 * this.swingAxisX + basis1Mat21 * this.swingAxisY + basis1Mat22 * this.swingAxisZ;
            this.swingAxisX = _tmp__X10;
            this.swingAxisY = _tmp__Y10;
            this.swingAxisZ = _tmp__Z10;

            var __tmp__X1;

            var _tmp__Y11;

            var _tmp__Z11;

            __tmp__X1 = swingM00 * this.swingAxisX + swingM01 * this.swingAxisY + swingM02 * this.swingAxisZ;
            _tmp__Y11 = swingM10 * this.swingAxisX + swingM11 * this.swingAxisY + swingM12 * this.swingAxisZ;
            _tmp__Z11 = swingM20 * this.swingAxisX + swingM21 * this.swingAxisY + swingM22 * this.swingAxisZ;
            this.swingAxisX = __tmp__X1;
            this.swingAxisY = _tmp__Y11;
            this.swingAxisZ = _tmp__Z11;
          } else {
            this.swingError = 0;
          }
        }

        this.linearErrorX = this._anchor2X - this._anchor1X;
        this.linearErrorY = this._anchor2Y - this._anchor1Y;
        this.linearErrorZ = this._anchor2Z - this._anchor1Z;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_RagdollJoint.prototype), "_getVelocitySolverInfo", this).call(this, timeStep, info);

        this.getInfo(info, timeStep, false);
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_RagdollJoint.prototype), "_getPositionSolverInfo", this).call(this, info);

        this.getInfo(info, null, true);
      }
    }, {
      key: "getAxis1",
      value: function getAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX1X;
        v.y = this._basisX1Y;
        v.z = this._basisX1Z;
        return v;
      }
    }, {
      key: "getAxis2",
      value: function getAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX2X;
        v.y = this._basisX2Y;
        v.z = this._basisX2Z;
        return v;
      }
    }, {
      key: "getAxis1To",
      value: function getAxis1To(axis) {
        axis.x = this._basisX1X;
        axis.y = this._basisX1Y;
        axis.z = this._basisX1Z;
      }
    }, {
      key: "getAxis2To",
      value: function getAxis2To(axis) {
        axis.x = this._basisX2X;
        axis.y = this._basisX2Y;
        axis.z = this._basisX2Z;
      }
    }, {
      key: "getLocalAxis1",
      value: function getLocalAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX1X;
        v.y = this._localBasisX1Y;
        v.z = this._localBasisX1Z;
        return v;
      }
    }, {
      key: "getLocalAxis2",
      value: function getLocalAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX2X;
        v.y = this._localBasisX2Y;
        v.z = this._localBasisX2Z;
        return v;
      }
    }, {
      key: "getLocalAxis1To",
      value: function getLocalAxis1To(axis) {
        axis.x = this._localBasisX1X;
        axis.y = this._localBasisX1Y;
        axis.z = this._localBasisX1Z;
      }
    }, {
      key: "getLocalAxis2To",
      value: function getLocalAxis2To(axis) {
        axis.x = this._localBasisX2X;
        axis.y = this._localBasisX2Y;
        axis.z = this._localBasisX2Z;
      }
    }, {
      key: "getTwistSpringDamper",
      value: function getTwistSpringDamper() {
        return this._twistSd;
      }
    }, {
      key: "getTwistLimitMotor",
      value: function getTwistLimitMotor() {
        return this._twistLm;
      }
    }, {
      key: "getSwingSpringDamper",
      value: function getSwingSpringDamper() {
        return this._swingSd;
      }
    }, {
      key: "getSwingAxis",
      value: function getSwingAxis() {
        var v = new oimo.common.Vec3();
        v.x = this.swingAxisX;
        v.y = this.swingAxisY;
        v.z = this.swingAxisZ;
        return v;
      }
    }, {
      key: "getSwingAxisTo",
      value: function getSwingAxisTo(axis) {
        axis.x = this.swingAxisX;
        axis.y = this.swingAxisY;
        axis.z = this.swingAxisZ;
      }
    }, {
      key: "getSwingAngle",
      value: function getSwingAngle() {
        return this._swingAngle;
      }
    }, {
      key: "getTwistAngle",
      value: function getTwistAngle() {
        return this._twistAngle;
      }
    }]);

    return oimo_dynamics_constraint_joint_RagdollJoint;
  }(oimo.dynamics.constraint.joint.Joint);

  oimo.dynamics.constraint.joint.RagdollJointConfig = /*#__PURE__*/function (_oimo$dynamics$constr8) {
    _inherits(oimo_dynamics_constraint_joint_RagdollJointConfig, _oimo$dynamics$constr8);

    var _super30 = _createSuper(oimo_dynamics_constraint_joint_RagdollJointConfig);

    function oimo_dynamics_constraint_joint_RagdollJointConfig() {
      var _this233;

      _classCallCheck(this, oimo_dynamics_constraint_joint_RagdollJointConfig);

      _this233 = _super30.call(this);
      _this233.localTwistAxis1 = new oimo.common.Vec3(1, 0, 0);
      _this233.localTwistAxis2 = new oimo.common.Vec3(1, 0, 0);
      _this233.localSwingAxis1 = new oimo.common.Vec3(0, 1, 0);
      _this233.twistSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
      _this233.swingSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
      _this233.twistLimitMotor = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
      _this233.maxSwingAngle1 = 3.14159265358979;
      _this233.maxSwingAngle2 = 3.14159265358979;
      return _this233;
    }

    _createClass(oimo_dynamics_constraint_joint_RagdollJointConfig, [{
      key: "init",
      value: function init(rigidBody1, rigidBody2, worldAnchor, worldTwistAxis, worldSwingAxis) {
        this._init(rigidBody1, rigidBody2, worldAnchor);

        var localVector = this.localTwistAxis1;
        var vX;
        var vY;
        var vZ;
        vX = worldTwistAxis.x;
        vY = worldTwistAxis.y;
        vZ = worldTwistAxis.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
        __tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
        __tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localVector.x = vX;
        localVector.y = vY;
        localVector.z = vZ;
        var localVector1 = this.localTwistAxis2;
        var vX1;
        var vY1;
        var vZ1;
        vX1 = worldTwistAxis.x;
        vY1 = worldTwistAxis.y;
        vZ1 = worldTwistAxis.z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
        __tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
        __tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
        vX1 = __tmp__X1;
        vY1 = __tmp__Y1;
        vZ1 = __tmp__Z1;
        localVector1.x = vX1;
        localVector1.y = vY1;
        localVector1.z = vZ1;
        var localVector2 = this.localSwingAxis1;
        var vX2;
        var vY2;
        var vZ2;
        vX2 = worldSwingAxis.x;
        vY2 = worldSwingAxis.y;
        vZ2 = worldSwingAxis.z;

        var __tmp__X2;

        var __tmp__Y2;

        var __tmp__Z2;

        __tmp__X2 = rigidBody1._transform._rotation00 * vX2 + rigidBody1._transform._rotation10 * vY2 + rigidBody1._transform._rotation20 * vZ2;
        __tmp__Y2 = rigidBody1._transform._rotation01 * vX2 + rigidBody1._transform._rotation11 * vY2 + rigidBody1._transform._rotation21 * vZ2;
        __tmp__Z2 = rigidBody1._transform._rotation02 * vX2 + rigidBody1._transform._rotation12 * vY2 + rigidBody1._transform._rotation22 * vZ2;
        vX2 = __tmp__X2;
        vY2 = __tmp__Y2;
        vZ2 = __tmp__Z2;
        localVector2.x = vX2;
        localVector2.y = vY2;
        localVector2.z = vZ2;
        return this;
      }
    }]);

    return oimo_dynamics_constraint_joint_RagdollJointConfig;
  }(oimo.dynamics.constraint.joint.JointConfig);

  oimo.dynamics.constraint.joint.RevoluteJoint = /*#__PURE__*/function (_oimo$dynamics$constr9) {
    _inherits(oimo_dynamics_constraint_joint_RevoluteJoint, _oimo$dynamics$constr9);

    var _super31 = _createSuper(oimo_dynamics_constraint_joint_RevoluteJoint);

    function oimo_dynamics_constraint_joint_RevoluteJoint(config) {
      var _this234;

      _classCallCheck(this, oimo_dynamics_constraint_joint_RevoluteJoint);

      _this234 = _super31.call(this, config, 1);
      var v = config.localAxis1;
      _this234._localBasisX1X = v.x;
      _this234._localBasisX1Y = v.y;
      _this234._localBasisX1Z = v.z;
      var v1 = config.localAxis2;
      _this234._localBasisX2X = v1.x;
      _this234._localBasisX2Y = v1.y;
      _this234._localBasisX2Z = v1.z;

      _this234.buildLocalBasesFromX();

      _this234.angle = 0;
      _this234.angularErrorY = 0;
      _this234.angularErrorZ = 0;
      _this234._basis = new oimo.dynamics.constraint.joint.BasisTracker(_assertThisInitialized(_this234));
      _this234._sd = config.springDamper.clone();
      _this234._lm = config.limitMotor.clone();
      return _this234;
    }

    _createClass(oimo_dynamics_constraint_joint_RevoluteJoint, [{
      key: "getInfo",
      value: function getInfo(info, timeStep, isPositionPart) {
        var erp = this.getErp(timeStep, isPositionPart);
        var linearRhsX;
        var linearRhsY;
        var linearRhsZ;
        linearRhsX = this.linearErrorX * erp;
        linearRhsY = this.linearErrorY * erp;
        linearRhsZ = this.linearErrorZ * erp;
        var angRhsY = this.angularErrorY * erp;
        var angRhsZ = this.angularErrorZ * erp;
        var crossR100;
        var crossR101;
        var crossR102;
        var crossR110;
        var crossR111;
        var crossR112;
        var crossR120;
        var crossR121;
        var crossR122;
        var crossR200;
        var crossR201;
        var crossR202;
        var crossR210;
        var crossR211;
        var crossR212;
        var crossR220;
        var crossR221;
        var crossR222;
        crossR100 = 0;
        crossR101 = -this._relativeAnchor1Z;
        crossR102 = this._relativeAnchor1Y;
        crossR110 = this._relativeAnchor1Z;
        crossR111 = 0;
        crossR112 = -this._relativeAnchor1X;
        crossR120 = -this._relativeAnchor1Y;
        crossR121 = this._relativeAnchor1X;
        crossR122 = 0;
        crossR200 = 0;
        crossR201 = -this._relativeAnchor2Z;
        crossR202 = this._relativeAnchor2Y;
        crossR210 = this._relativeAnchor2Z;
        crossR211 = 0;
        crossR212 = -this._relativeAnchor2X;
        crossR220 = -this._relativeAnchor2Y;
        crossR221 = this._relativeAnchor2X;
        crossR222 = 0;
        crossR100 = -crossR100;
        crossR101 = -crossR101;
        crossR102 = -crossR102;
        crossR110 = -crossR110;
        crossR111 = -crossR111;
        crossR112 = -crossR112;
        crossR120 = -crossR120;
        crossR121 = -crossR121;
        crossR122 = -crossR122;
        crossR200 = -crossR200;
        crossR201 = -crossR201;
        crossR202 = -crossR202;
        crossR210 = -crossR210;
        crossR211 = -crossR211;
        crossR212 = -crossR212;
        crossR220 = -crossR220;
        crossR221 = -crossR221;
        crossR222 = -crossR222;
        var motorMass = this.computeEffectiveInertiaMoment(this._basis.xX, this._basis.xY, this._basis.xZ);
        var impulse = this._impulses[0];
        var row = info.rows[info.numRows++];
        var _this = row.jacobian;
        _this.lin1X = 0;
        _this.lin1Y = 0;
        _this.lin1Z = 0;
        _this.lin2X = 0;
        _this.lin2Y = 0;
        _this.lin2Z = 0;
        _this.ang1X = 0;
        _this.ang1Y = 0;
        _this.ang1Z = 0;
        _this.ang2X = 0;
        _this.ang2Y = 0;
        _this.ang2Z = 0;
        row.rhs = 0;
        row.cfm = 0;
        row.minImpulse = 0;
        row.maxImpulse = 0;
        row.motorSpeed = 0;
        row.motorMaxImpulse = 0;
        row.impulse = null;
        row.impulse = impulse;
        row.rhs = linearRhsX;
        row.cfm = 0;
        row.minImpulse = -1e65536;
        row.maxImpulse = 1e65536;
        var j = row.jacobian;
        j.lin1X = 1;
        j.lin1Y = 0;
        j.lin1Z = 0;
        j.lin2X = 1;
        j.lin2Y = 0;
        j.lin2Z = 0;
        j.ang1X = crossR100;
        j.ang1Y = crossR101;
        j.ang1Z = crossR102;
        j.ang2X = crossR200;
        j.ang2Y = crossR201;
        j.ang2Z = crossR202;
        var impulse1 = this._impulses[1];
        var row1 = info.rows[info.numRows++];
        var _this1 = row1.jacobian;
        _this1.lin1X = 0;
        _this1.lin1Y = 0;
        _this1.lin1Z = 0;
        _this1.lin2X = 0;
        _this1.lin2Y = 0;
        _this1.lin2Z = 0;
        _this1.ang1X = 0;
        _this1.ang1Y = 0;
        _this1.ang1Z = 0;
        _this1.ang2X = 0;
        _this1.ang2Y = 0;
        _this1.ang2Z = 0;
        row1.rhs = 0;
        row1.cfm = 0;
        row1.minImpulse = 0;
        row1.maxImpulse = 0;
        row1.motorSpeed = 0;
        row1.motorMaxImpulse = 0;
        row1.impulse = null;
        row1.impulse = impulse1;
        row1.rhs = linearRhsY;
        row1.cfm = 0;
        row1.minImpulse = -1e65536;
        row1.maxImpulse = 1e65536;
        j = row1.jacobian;
        j.lin1X = 0;
        j.lin1Y = 1;
        j.lin1Z = 0;
        j.lin2X = 0;
        j.lin2Y = 1;
        j.lin2Z = 0;
        j.ang1X = crossR110;
        j.ang1Y = crossR111;
        j.ang1Z = crossR112;
        j.ang2X = crossR210;
        j.ang2Y = crossR211;
        j.ang2Z = crossR212;
        var impulse2 = this._impulses[2];
        var row2 = info.rows[info.numRows++];
        var _this2 = row2.jacobian;
        _this2.lin1X = 0;
        _this2.lin1Y = 0;
        _this2.lin1Z = 0;
        _this2.lin2X = 0;
        _this2.lin2Y = 0;
        _this2.lin2Z = 0;
        _this2.ang1X = 0;
        _this2.ang1Y = 0;
        _this2.ang1Z = 0;
        _this2.ang2X = 0;
        _this2.ang2Y = 0;
        _this2.ang2Z = 0;
        row2.rhs = 0;
        row2.cfm = 0;
        row2.minImpulse = 0;
        row2.maxImpulse = 0;
        row2.motorSpeed = 0;
        row2.motorMaxImpulse = 0;
        row2.impulse = null;
        row2.impulse = impulse2;
        row2.rhs = linearRhsZ;
        row2.cfm = 0;
        row2.minImpulse = -1e65536;
        row2.maxImpulse = 1e65536;
        j = row2.jacobian;
        j.lin1X = 0;
        j.lin1Y = 0;
        j.lin1Z = 1;
        j.lin2X = 0;
        j.lin2Y = 0;
        j.lin2Z = 1;
        j.ang1X = crossR120;
        j.ang1Y = crossR121;
        j.ang1Z = crossR122;
        j.ang2X = crossR220;
        j.ang2Y = crossR221;
        j.ang2Z = crossR222;

        if (this._sd.frequency <= 0 || !isPositionPart) {
          var _impulse11 = this._impulses[3];
          var _row11 = info.rows[info.numRows++];
          var _this235 = _row11.jacobian;
          _this235.lin1X = 0;
          _this235.lin1Y = 0;
          _this235.lin1Z = 0;
          _this235.lin2X = 0;
          _this235.lin2Y = 0;
          _this235.lin2Z = 0;
          _this235.ang1X = 0;
          _this235.ang1Y = 0;
          _this235.ang1Z = 0;
          _this235.ang2X = 0;
          _this235.ang2Y = 0;
          _this235.ang2Z = 0;
          _row11.rhs = 0;
          _row11.cfm = 0;
          _row11.minImpulse = 0;
          _row11.maxImpulse = 0;
          _row11.motorSpeed = 0;
          _row11.motorMaxImpulse = 0;
          _row11.impulse = null;
          _row11.impulse = _impulse11;
          this.setSolverInfoRowAngular(_row11, this.angle, this._lm, motorMass, this._sd, timeStep, isPositionPart);
          j = _row11.jacobian;
          j.ang1X = this._basis.xX;
          j.ang1Y = this._basis.xY;
          j.ang1Z = this._basis.xZ;
          j.ang2X = this._basis.xX;
          j.ang2Y = this._basis.xY;
          j.ang2Z = this._basis.xZ;
        }

        var impulse3 = this._impulses[4];
        var row3 = info.rows[info.numRows++];
        var _this3 = row3.jacobian;
        _this3.lin1X = 0;
        _this3.lin1Y = 0;
        _this3.lin1Z = 0;
        _this3.lin2X = 0;
        _this3.lin2Y = 0;
        _this3.lin2Z = 0;
        _this3.ang1X = 0;
        _this3.ang1Y = 0;
        _this3.ang1Z = 0;
        _this3.ang2X = 0;
        _this3.ang2Y = 0;
        _this3.ang2Z = 0;
        row3.rhs = 0;
        row3.cfm = 0;
        row3.minImpulse = 0;
        row3.maxImpulse = 0;
        row3.motorSpeed = 0;
        row3.motorMaxImpulse = 0;
        row3.impulse = null;
        row3.impulse = impulse3;
        row3.rhs = angRhsY;
        row3.cfm = 0;
        row3.minImpulse = -1e65536;
        row3.maxImpulse = 1e65536;
        j = row3.jacobian;
        j.ang1X = this._basis.yX;
        j.ang1Y = this._basis.yY;
        j.ang1Z = this._basis.yZ;
        j.ang2X = this._basis.yX;
        j.ang2Y = this._basis.yY;
        j.ang2Z = this._basis.yZ;
        var impulse4 = this._impulses[5];
        var row4 = info.rows[info.numRows++];
        var _this4 = row4.jacobian;
        _this4.lin1X = 0;
        _this4.lin1Y = 0;
        _this4.lin1Z = 0;
        _this4.lin2X = 0;
        _this4.lin2Y = 0;
        _this4.lin2Z = 0;
        _this4.ang1X = 0;
        _this4.ang1Y = 0;
        _this4.ang1Z = 0;
        _this4.ang2X = 0;
        _this4.ang2Y = 0;
        _this4.ang2Z = 0;
        row4.rhs = 0;
        row4.cfm = 0;
        row4.minImpulse = 0;
        row4.maxImpulse = 0;
        row4.motorSpeed = 0;
        row4.motorMaxImpulse = 0;
        row4.impulse = null;
        row4.impulse = impulse4;
        row4.rhs = angRhsZ;
        row4.cfm = 0;
        row4.minImpulse = -1e65536;
        row4.maxImpulse = 1e65536;
        j = row4.jacobian;
        j.ang1X = this._basis.zX;
        j.ang1Y = this._basis.zY;
        j.ang1Z = this._basis.zZ;
        j.ang2X = this._basis.zX;
        j.ang2Y = this._basis.zY;
        j.ang2Z = this._basis.zZ;
      }
    }, {
      key: "_syncAnchors",
      value: function _syncAnchors() {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_RevoluteJoint.prototype), "_syncAnchors", this).call(this);

        var _this = this._basis;
        var invM1 = _this.joint._b1._invMass;
        var invM2 = _this.joint._b2._invMass;
        var qX;
        var qY;
        var qZ;
        var qW;
        var idQX;
        var idQY;
        var idQZ;
        var idQW;
        var slerpQX;
        var slerpQY;
        var slerpQZ;
        var slerpQW;
        var slerpM00;
        var slerpM01;
        var slerpM02;
        var slerpM10;
        var slerpM11;
        var slerpM12;
        var slerpM20;
        var slerpM21;
        var slerpM22;
        var newXX;
        var newXY;
        var newXZ;
        var newYX;
        var newYY;
        var newYZ;
        var newZX;
        var newZY;
        var newZZ;
        var prevXX;
        var prevXY;
        var prevXZ;
        var prevYX;
        var prevYY;
        var prevYZ;
        var d = _this.joint._basisX1X * _this.joint._basisX2X + _this.joint._basisX1Y * _this.joint._basisX2Y + _this.joint._basisX1Z * _this.joint._basisX2Z;

        if (d < -0.999999999) {
          var vX;
          var vY;
          var vZ;
          var _x26 = _this.joint._basisX1X;
          var _y26 = _this.joint._basisX1Y;
          var _z25 = _this.joint._basisX1Z;

          var _x27 = _x26 * _x26;

          var _y27 = _y26 * _y26;

          var _z26 = _z25 * _z25;

          var _d48;

          if (_x27 < _y27) {
            if (_x27 < _z26) {
              _d48 = 1 / Math.sqrt(_y27 + _z26);
              vX = 0;
              vY = _z25 * _d48;
              vZ = -_y26 * _d48;
            } else {
              _d48 = 1 / Math.sqrt(_x27 + _y27);
              vX = _y26 * _d48;
              vY = -_x26 * _d48;
              vZ = 0;
            }
          } else if (_y27 < _z26) {
            _d48 = 1 / Math.sqrt(_z26 + _x27);
            vX = -_z25 * _d48;
            vY = 0;
            vZ = _x26 * _d48;
          } else {
            _d48 = 1 / Math.sqrt(_x27 + _y27);
            vX = _y26 * _d48;
            vY = -_x26 * _d48;
            vZ = 0;
          }

          qX = vX;
          qY = vY;
          qZ = vZ;
          qW = 0;
        } else {
          var cX;
          var cY;
          var cZ;
          cX = _this.joint._basisX1Y * _this.joint._basisX2Z - _this.joint._basisX1Z * _this.joint._basisX2Y;
          cY = _this.joint._basisX1Z * _this.joint._basisX2X - _this.joint._basisX1X * _this.joint._basisX2Z;
          cZ = _this.joint._basisX1X * _this.joint._basisX2Y - _this.joint._basisX1Y * _this.joint._basisX2X;

          var _w8 = Math.sqrt((1 + d) * 0.5);

          d = 0.5 / _w8;
          cX *= d;
          cY *= d;
          cZ *= d;
          qX = cX;
          qY = cY;
          qZ = cZ;
          qW = _w8;
        }

        idQX = 0;
        idQY = 0;
        idQZ = 0;
        idQW = 1;
        var q1X;
        var q1Y;
        var q1Z;
        var q1W;
        var q2X;
        var q2Y;
        var q2Z;
        var q2W;
        q1X = idQX;
        q1Y = idQY;
        q1Z = idQZ;
        q1W = idQW;
        q2X = qX;
        q2Y = qY;
        q2Z = qZ;
        q2W = qW;
        var d1 = q1X * q2X + q1Y * q2Y + q1Z * q2Z + q1W * q2W;

        if (d1 < 0) {
          d1 = -d1;
          q2X = -q2X;
          q2Y = -q2Y;
          q2Z = -q2Z;
          q2W = -q2W;
        }

        if (d1 > 0.999999) {
          var dqX;
          var dqY;
          var dqZ;
          var dqW;
          dqX = q2X - q1X;
          dqY = q2Y - q1Y;
          dqZ = q2Z - q1Z;
          dqW = q2W - q1W;
          q2X = q1X + dqX * (invM1 / (invM1 + invM2));
          q2Y = q1Y + dqY * (invM1 / (invM1 + invM2));
          q2Z = q1Z + dqZ * (invM1 / (invM1 + invM2));
          q2W = q1W + dqW * (invM1 / (invM1 + invM2));

          var _l44 = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;

          if (_l44 > 1e-32) {
            _l44 = 1 / Math.sqrt(_l44);
          }

          slerpQX = q2X * _l44;
          slerpQY = q2Y * _l44;
          slerpQZ = q2Z * _l44;
          slerpQW = q2W * _l44;
        } else {
          var _theta3 = invM1 / (invM1 + invM2) * Math.acos(d1);

          q2X += q1X * -d1;
          q2Y += q1Y * -d1;
          q2Z += q1Z * -d1;
          q2W += q1W * -d1;

          var _l45 = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;

          if (_l45 > 1e-32) {
            _l45 = 1 / Math.sqrt(_l45);
          }

          q2X *= _l45;
          q2Y *= _l45;
          q2Z *= _l45;
          q2W *= _l45;
          var sin = Math.sin(_theta3);

          var _cos2 = Math.cos(_theta3);

          q1X *= _cos2;
          q1Y *= _cos2;
          q1Z *= _cos2;
          q1W *= _cos2;
          slerpQX = q1X + q2X * sin;
          slerpQY = q1Y + q2Y * sin;
          slerpQZ = q1Z + q2Z * sin;
          slerpQW = q1W + q2W * sin;
        }

        var x = slerpQX;
        var y = slerpQY;
        var z = slerpQZ;
        var w = slerpQW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        slerpM00 = 1 - yy - zz;
        slerpM01 = xy - wz;
        slerpM02 = xz + wy;
        slerpM10 = xy + wz;
        slerpM11 = 1 - xx - zz;
        slerpM12 = yz - wx;
        slerpM20 = xz - wy;
        slerpM21 = yz + wx;
        slerpM22 = 1 - xx - yy;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = slerpM00 * _this.joint._basisX1X + slerpM01 * _this.joint._basisX1Y + slerpM02 * _this.joint._basisX1Z;
        __tmp__Y = slerpM10 * _this.joint._basisX1X + slerpM11 * _this.joint._basisX1Y + slerpM12 * _this.joint._basisX1Z;
        __tmp__Z = slerpM20 * _this.joint._basisX1X + slerpM21 * _this.joint._basisX1Y + slerpM22 * _this.joint._basisX1Z;
        newXX = __tmp__X;
        newXY = __tmp__Y;
        newXZ = __tmp__Z;
        prevXX = _this.xX;
        prevXY = _this.xY;
        prevXZ = _this.xZ;
        prevYX = _this.yX;
        prevYY = _this.yY;
        prevYZ = _this.yZ;
        var d2 = prevXX * newXX + prevXY * newXY + prevXZ * newXZ;

        if (d2 < -0.999999999) {
          var _vX3;

          var _vY3;

          var _vZ3;

          var _x28 = prevXX;
          var _y28 = prevXY;
          var _z27 = prevXZ;

          var _x29 = _x28 * _x28;

          var _y29 = _y28 * _y28;

          var _z28 = _z27 * _z27;

          var _d49;

          if (_x29 < _y29) {
            if (_x29 < _z28) {
              _d49 = 1 / Math.sqrt(_y29 + _z28);
              _vX3 = 0;
              _vY3 = _z27 * _d49;
              _vZ3 = -_y28 * _d49;
            } else {
              _d49 = 1 / Math.sqrt(_x29 + _y29);
              _vX3 = _y28 * _d49;
              _vY3 = -_x28 * _d49;
              _vZ3 = 0;
            }
          } else if (_y29 < _z28) {
            _d49 = 1 / Math.sqrt(_z28 + _x29);
            _vX3 = -_z27 * _d49;
            _vY3 = 0;
            _vZ3 = _x28 * _d49;
          } else {
            _d49 = 1 / Math.sqrt(_x29 + _y29);
            _vX3 = _y28 * _d49;
            _vY3 = -_x28 * _d49;
            _vZ3 = 0;
          }

          slerpQX = _vX3;
          slerpQY = _vY3;
          slerpQZ = _vZ3;
          slerpQW = 0;
        } else {
          var _cX3;

          var _cY3;

          var _cZ3;

          _cX3 = prevXY * newXZ - prevXZ * newXY;
          _cY3 = prevXZ * newXX - prevXX * newXZ;
          _cZ3 = prevXX * newXY - prevXY * newXX;

          var _w9 = Math.sqrt((1 + d2) * 0.5);

          d2 = 0.5 / _w9;
          _cX3 *= d2;
          _cY3 *= d2;
          _cZ3 *= d2;
          slerpQX = _cX3;
          slerpQY = _cY3;
          slerpQZ = _cZ3;
          slerpQW = _w9;
        }

        var x1 = slerpQX;
        var y1 = slerpQY;
        var z1 = slerpQZ;
        var w1 = slerpQW;
        var x21 = 2 * x1;
        var y21 = 2 * y1;
        var z21 = 2 * z1;
        var xx1 = x1 * x21;
        var yy1 = y1 * y21;
        var zz1 = z1 * z21;
        var xy1 = x1 * y21;
        var yz1 = y1 * z21;
        var xz1 = x1 * z21;
        var wx1 = w1 * x21;
        var wy1 = w1 * y21;
        var wz1 = w1 * z21;
        slerpM00 = 1 - yy1 - zz1;
        slerpM01 = xy1 - wz1;
        slerpM02 = xz1 + wy1;
        slerpM10 = xy1 + wz1;
        slerpM11 = 1 - xx1 - zz1;
        slerpM12 = yz1 - wx1;
        slerpM20 = xz1 - wy1;
        slerpM21 = yz1 + wx1;
        slerpM22 = 1 - xx1 - yy1;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = slerpM00 * prevYX + slerpM01 * prevYY + slerpM02 * prevYZ;
        __tmp__Y1 = slerpM10 * prevYX + slerpM11 * prevYY + slerpM12 * prevYZ;
        __tmp__Z1 = slerpM20 * prevYX + slerpM21 * prevYY + slerpM22 * prevYZ;
        newYX = __tmp__X1;
        newYY = __tmp__Y1;
        newYZ = __tmp__Z1;
        newZX = newXY * newYZ - newXZ * newYY;
        newZY = newXZ * newYX - newXX * newYZ;
        newZZ = newXX * newYY - newXY * newYX;

        if (newZX * newZX + newZY * newZY + newZZ * newZZ > 1e-6) {
          var _l46 = newZX * newZX + newZY * newZY + newZZ * newZZ;

          if (_l46 > 0) {
            _l46 = 1 / Math.sqrt(_l46);
          }

          newZX *= _l46;
          newZY *= _l46;
          newZZ *= _l46;
        } else {
          var _x30 = newXX;
          var _y30 = newXY;
          var _z29 = newXZ;

          var _x31 = _x30 * _x30;

          var _y31 = _y30 * _y30;

          var _z30 = _z29 * _z29;

          var _d50;

          if (_x31 < _y31) {
            if (_x31 < _z30) {
              _d50 = 1 / Math.sqrt(_y31 + _z30);
              newZX = 0;
              newZY = _z29 * _d50;
              newZZ = -_y30 * _d50;
            } else {
              _d50 = 1 / Math.sqrt(_x31 + _y31);
              newZX = _y30 * _d50;
              newZY = -_x30 * _d50;
              newZZ = 0;
            }
          } else if (_y31 < _z30) {
            _d50 = 1 / Math.sqrt(_z30 + _x31);
            newZX = -_z29 * _d50;
            newZY = 0;
            newZZ = _x30 * _d50;
          } else {
            _d50 = 1 / Math.sqrt(_x31 + _y31);
            newZX = _y30 * _d50;
            newZY = -_x30 * _d50;
            newZZ = 0;
          }
        }

        newYX = newZY * newXZ - newZZ * newXY;
        newYY = newZZ * newXX - newZX * newXZ;
        newYZ = newZX * newXY - newZY * newXX;
        _this.xX = newXX;
        _this.xY = newXY;
        _this.xZ = newXZ;
        _this.yX = newYX;
        _this.yY = newYY;
        _this.yZ = newYZ;
        _this.zX = newZX;
        _this.zY = newZY;
        _this.zZ = newZZ;
        var angErrorX;
        var angErrorY;
        var angErrorZ;
        angErrorX = this._basisX1Y * this._basisX2Z - this._basisX1Z * this._basisX2Y;
        angErrorY = this._basisX1Z * this._basisX2X - this._basisX1X * this._basisX2Z;
        angErrorZ = this._basisX1X * this._basisX2Y - this._basisX1Y * this._basisX2X;
        var cos = this._basisX1X * this._basisX2X + this._basisX1Y * this._basisX2Y + this._basisX1Z * this._basisX2Z;
        var theta = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);
        var l = angErrorX * angErrorX + angErrorY * angErrorY + angErrorZ * angErrorZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        angErrorX *= l;
        angErrorY *= l;
        angErrorZ *= l;
        angErrorX *= theta;
        angErrorY *= theta;
        angErrorZ *= theta;
        this.angularErrorY = angErrorX * this._basis.yX + angErrorY * this._basis.yY + angErrorZ * this._basis.yZ;
        this.angularErrorZ = angErrorX * this._basis.zX + angErrorY * this._basis.zY + angErrorZ * this._basis.zZ;
        var perpCrossX;
        var perpCrossY;
        var perpCrossZ;
        perpCrossX = this._basisY1Y * this._basisY2Z - this._basisY1Z * this._basisY2Y;
        perpCrossY = this._basisY1Z * this._basisY2X - this._basisY1X * this._basisY2Z;
        perpCrossZ = this._basisY1X * this._basisY2Y - this._basisY1Y * this._basisY2X;
        cos = this._basisY1X * this._basisY2X + this._basisY1Y * this._basisY2Y + this._basisY1Z * this._basisY2Z;
        this.angle = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);

        if (perpCrossX * this._basis.xX + perpCrossY * this._basis.xY + perpCrossZ * this._basis.xZ < 0) {
          this.angle = -this.angle;
        }

        this.linearErrorX = this._anchor2X - this._anchor1X;
        this.linearErrorY = this._anchor2Y - this._anchor1Y;
        this.linearErrorZ = this._anchor2Z - this._anchor1Z;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_RevoluteJoint.prototype), "_getVelocitySolverInfo", this).call(this, timeStep, info);

        this.getInfo(info, timeStep, false);
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_RevoluteJoint.prototype), "_getPositionSolverInfo", this).call(this, info);

        this.getInfo(info, null, true);
      }
    }, {
      key: "getAxis1",
      value: function getAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX1X;
        v.y = this._basisX1Y;
        v.z = this._basisX1Z;
        return v;
      }
    }, {
      key: "getAxis2",
      value: function getAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX2X;
        v.y = this._basisX2Y;
        v.z = this._basisX2Z;
        return v;
      }
    }, {
      key: "getAxis1To",
      value: function getAxis1To(axis) {
        axis.x = this._basisX1X;
        axis.y = this._basisX1Y;
        axis.z = this._basisX1Z;
      }
    }, {
      key: "getAxis2To",
      value: function getAxis2To(axis) {
        axis.x = this._basisX2X;
        axis.y = this._basisX2Y;
        axis.z = this._basisX2Z;
      }
    }, {
      key: "getLocalAxis1",
      value: function getLocalAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX1X;
        v.y = this._localBasisX1Y;
        v.z = this._localBasisX1Z;
        return v;
      }
    }, {
      key: "getLocalAxis2",
      value: function getLocalAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX2X;
        v.y = this._localBasisX2Y;
        v.z = this._localBasisX2Z;
        return v;
      }
    }, {
      key: "getLocalAxis1To",
      value: function getLocalAxis1To(axis) {
        axis.x = this._localBasisX1X;
        axis.y = this._localBasisX1Y;
        axis.z = this._localBasisX1Z;
      }
    }, {
      key: "getLocalAxis2To",
      value: function getLocalAxis2To(axis) {
        axis.x = this._localBasisX2X;
        axis.y = this._localBasisX2Y;
        axis.z = this._localBasisX2Z;
      }
    }, {
      key: "getSpringDamper",
      value: function getSpringDamper() {
        return this._sd;
      }
    }, {
      key: "getLimitMotor",
      value: function getLimitMotor() {
        return this._lm;
      }
    }, {
      key: "getAngle",
      value: function getAngle() {
        return this.angle;
      }
    }]);

    return oimo_dynamics_constraint_joint_RevoluteJoint;
  }(oimo.dynamics.constraint.joint.Joint);

  oimo.dynamics.constraint.joint.RevoluteJointConfig = /*#__PURE__*/function (_oimo$dynamics$constr10) {
    _inherits(oimo_dynamics_constraint_joint_RevoluteJointConfig, _oimo$dynamics$constr10);

    var _super32 = _createSuper(oimo_dynamics_constraint_joint_RevoluteJointConfig);

    function oimo_dynamics_constraint_joint_RevoluteJointConfig() {
      var _this236;

      _classCallCheck(this, oimo_dynamics_constraint_joint_RevoluteJointConfig);

      _this236 = _super32.call(this);
      _this236.localAxis1 = new oimo.common.Vec3(1, 0, 0);
      _this236.localAxis2 = new oimo.common.Vec3(1, 0, 0);
      _this236.springDamper = new oimo.dynamics.constraint.joint.SpringDamper();
      _this236.limitMotor = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
      return _this236;
    }

    _createClass(oimo_dynamics_constraint_joint_RevoluteJointConfig, [{
      key: "init",
      value: function init(rigidBody1, rigidBody2, worldAnchor, worldAxis) {
        this._init(rigidBody1, rigidBody2, worldAnchor);

        var localVector = this.localAxis1;
        var vX;
        var vY;
        var vZ;
        vX = worldAxis.x;
        vY = worldAxis.y;
        vZ = worldAxis.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
        __tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
        __tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localVector.x = vX;
        localVector.y = vY;
        localVector.z = vZ;
        var localVector1 = this.localAxis2;
        var vX1;
        var vY1;
        var vZ1;
        vX1 = worldAxis.x;
        vY1 = worldAxis.y;
        vZ1 = worldAxis.z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
        __tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
        __tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
        vX1 = __tmp__X1;
        vY1 = __tmp__Y1;
        vZ1 = __tmp__Z1;
        localVector1.x = vX1;
        localVector1.y = vY1;
        localVector1.z = vZ1;
        return this;
      }
    }]);

    return oimo_dynamics_constraint_joint_RevoluteJointConfig;
  }(oimo.dynamics.constraint.joint.JointConfig);

  oimo.dynamics.constraint.joint.RotationalLimitMotor = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_joint_RotationalLimitMotor() {
      _classCallCheck(this, oimo_dynamics_constraint_joint_RotationalLimitMotor);

      this.lowerLimit = 1;
      this.upperLimit = 0;
      this.motorTorque = 0;
    }

    _createClass(oimo_dynamics_constraint_joint_RotationalLimitMotor, [{
      key: "setLimits",
      value: function setLimits(lower, upper) {
        this.lowerLimit = lower;
        this.upperLimit = upper;
        return this;
      }
    }, {
      key: "setMotor",
      value: function setMotor(speed, torque) {
        this.motorSpeed = speed;
        this.motorTorque = torque;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        var lm = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
        lm.lowerLimit = this.lowerLimit;
        lm.upperLimit = this.upperLimit;
        lm.motorSpeed = this.motorSpeed;
        lm.motorTorque = this.motorTorque;
        return lm;
      }
    }]);

    return oimo_dynamics_constraint_joint_RotationalLimitMotor;
  }();

  oimo.dynamics.constraint.joint.SphericalJoint = /*#__PURE__*/function (_oimo$dynamics$constr11) {
    _inherits(oimo_dynamics_constraint_joint_SphericalJoint, _oimo$dynamics$constr11);

    var _super33 = _createSuper(oimo_dynamics_constraint_joint_SphericalJoint);

    function oimo_dynamics_constraint_joint_SphericalJoint(config) {
      var _this237;

      _classCallCheck(this, oimo_dynamics_constraint_joint_SphericalJoint);

      _this237 = _super33.call(this, config, 0);
      _this237._sd = config.springDamper.clone();
      return _this237;
    }

    _createClass(oimo_dynamics_constraint_joint_SphericalJoint, [{
      key: "getInfo",
      value: function getInfo(info, timeStep, isPositionPart) {
        if (this._sd.frequency > 0 && isPositionPart) {
          return;
        }

        var errorX;
        var errorY;
        var errorZ;
        errorX = this._anchor2X - this._anchor1X;
        errorY = this._anchor2Y - this._anchor1Y;
        errorZ = this._anchor2Z - this._anchor1Z;
        var cfm;
        var erp;

        if (this._sd.frequency > 0) {
          var omega = 6.28318530717958 * this._sd.frequency;
          var zeta = this._sd.dampingRatio;

          if (zeta < oimo.common.Setting.minSpringDamperDampingRatio) {
            zeta = oimo.common.Setting.minSpringDamperDampingRatio;
          }

          var h = timeStep.dt;
          var c = 2 * zeta * omega;
          var k = omega * omega;

          if (this._sd.useSymplecticEuler) {
            cfm = 1 / (h * c);
            erp = k / c;
          } else {
            cfm = 1 / (h * (h * k + c));
            erp = k / (h * k + c);
          }

          cfm *= this._b1._invMass + this._b2._invMass;
        } else {
          cfm = 0;
          erp = this.getErp(timeStep, isPositionPart);
        }

        var linearRhsX;
        var linearRhsY;
        var linearRhsZ;
        linearRhsX = errorX * erp;
        linearRhsY = errorY * erp;
        linearRhsZ = errorZ * erp;
        var crossR100;
        var crossR101;
        var crossR102;
        var crossR110;
        var crossR111;
        var crossR112;
        var crossR120;
        var crossR121;
        var crossR122;
        var crossR200;
        var crossR201;
        var crossR202;
        var crossR210;
        var crossR211;
        var crossR212;
        var crossR220;
        var crossR221;
        var crossR222;
        crossR100 = 0;
        crossR101 = -this._relativeAnchor1Z;
        crossR102 = this._relativeAnchor1Y;
        crossR110 = this._relativeAnchor1Z;
        crossR111 = 0;
        crossR112 = -this._relativeAnchor1X;
        crossR120 = -this._relativeAnchor1Y;
        crossR121 = this._relativeAnchor1X;
        crossR122 = 0;
        crossR200 = 0;
        crossR201 = -this._relativeAnchor2Z;
        crossR202 = this._relativeAnchor2Y;
        crossR210 = this._relativeAnchor2Z;
        crossR211 = 0;
        crossR212 = -this._relativeAnchor2X;
        crossR220 = -this._relativeAnchor2Y;
        crossR221 = this._relativeAnchor2X;
        crossR222 = 0;
        crossR100 = -crossR100;
        crossR101 = -crossR101;
        crossR102 = -crossR102;
        crossR110 = -crossR110;
        crossR111 = -crossR111;
        crossR112 = -crossR112;
        crossR120 = -crossR120;
        crossR121 = -crossR121;
        crossR122 = -crossR122;
        crossR200 = -crossR200;
        crossR201 = -crossR201;
        crossR202 = -crossR202;
        crossR210 = -crossR210;
        crossR211 = -crossR211;
        crossR212 = -crossR212;
        crossR220 = -crossR220;
        crossR221 = -crossR221;
        crossR222 = -crossR222;
        var impulse = this._impulses[0];
        var row = info.rows[info.numRows++];
        var _this = row.jacobian;
        _this.lin1X = 0;
        _this.lin1Y = 0;
        _this.lin1Z = 0;
        _this.lin2X = 0;
        _this.lin2Y = 0;
        _this.lin2Z = 0;
        _this.ang1X = 0;
        _this.ang1Y = 0;
        _this.ang1Z = 0;
        _this.ang2X = 0;
        _this.ang2Y = 0;
        _this.ang2Z = 0;
        row.rhs = 0;
        row.cfm = 0;
        row.minImpulse = 0;
        row.maxImpulse = 0;
        row.motorSpeed = 0;
        row.motorMaxImpulse = 0;
        row.impulse = null;
        row.impulse = impulse;
        row.rhs = linearRhsX;
        row.cfm = cfm;
        row.minImpulse = -1e65536;
        row.maxImpulse = 1e65536;
        var j = row.jacobian;
        j.lin1X = 1;
        j.lin1Y = 0;
        j.lin1Z = 0;
        j.lin2X = 1;
        j.lin2Y = 0;
        j.lin2Z = 0;
        j.ang1X = crossR100;
        j.ang1Y = crossR101;
        j.ang1Z = crossR102;
        j.ang2X = crossR200;
        j.ang2Y = crossR201;
        j.ang2Z = crossR202;
        var impulse1 = this._impulses[1];
        var row1 = info.rows[info.numRows++];
        var _this1 = row1.jacobian;
        _this1.lin1X = 0;
        _this1.lin1Y = 0;
        _this1.lin1Z = 0;
        _this1.lin2X = 0;
        _this1.lin2Y = 0;
        _this1.lin2Z = 0;
        _this1.ang1X = 0;
        _this1.ang1Y = 0;
        _this1.ang1Z = 0;
        _this1.ang2X = 0;
        _this1.ang2Y = 0;
        _this1.ang2Z = 0;
        row1.rhs = 0;
        row1.cfm = 0;
        row1.minImpulse = 0;
        row1.maxImpulse = 0;
        row1.motorSpeed = 0;
        row1.motorMaxImpulse = 0;
        row1.impulse = null;
        row1.impulse = impulse1;
        row1.rhs = linearRhsY;
        row1.cfm = cfm;
        row1.minImpulse = -1e65536;
        row1.maxImpulse = 1e65536;
        j = row1.jacobian;
        j.lin1X = 0;
        j.lin1Y = 1;
        j.lin1Z = 0;
        j.lin2X = 0;
        j.lin2Y = 1;
        j.lin2Z = 0;
        j.ang1X = crossR110;
        j.ang1Y = crossR111;
        j.ang1Z = crossR112;
        j.ang2X = crossR210;
        j.ang2Y = crossR211;
        j.ang2Z = crossR212;
        var impulse2 = this._impulses[2];
        var row2 = info.rows[info.numRows++];
        var _this2 = row2.jacobian;
        _this2.lin1X = 0;
        _this2.lin1Y = 0;
        _this2.lin1Z = 0;
        _this2.lin2X = 0;
        _this2.lin2Y = 0;
        _this2.lin2Z = 0;
        _this2.ang1X = 0;
        _this2.ang1Y = 0;
        _this2.ang1Z = 0;
        _this2.ang2X = 0;
        _this2.ang2Y = 0;
        _this2.ang2Z = 0;
        row2.rhs = 0;
        row2.cfm = 0;
        row2.minImpulse = 0;
        row2.maxImpulse = 0;
        row2.motorSpeed = 0;
        row2.motorMaxImpulse = 0;
        row2.impulse = null;
        row2.impulse = impulse2;
        row2.rhs = linearRhsZ;
        row2.cfm = cfm;
        row2.minImpulse = -1e65536;
        row2.maxImpulse = 1e65536;
        j = row2.jacobian;
        j.lin1X = 0;
        j.lin1Y = 0;
        j.lin1Z = 1;
        j.lin2X = 0;
        j.lin2Y = 0;
        j.lin2Z = 1;
        j.ang1X = crossR120;
        j.ang1Y = crossR121;
        j.ang1Z = crossR122;
        j.ang2X = crossR220;
        j.ang2Y = crossR221;
        j.ang2Z = crossR222;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_SphericalJoint.prototype), "_getVelocitySolverInfo", this).call(this, timeStep, info);

        this.getInfo(info, timeStep, false);
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_SphericalJoint.prototype), "_getPositionSolverInfo", this).call(this, info);

        this.getInfo(info, null, true);
      }
    }, {
      key: "getSpringDamper",
      value: function getSpringDamper() {
        return this._sd;
      }
    }]);

    return oimo_dynamics_constraint_joint_SphericalJoint;
  }(oimo.dynamics.constraint.joint.Joint);

  oimo.dynamics.constraint.joint.SphericalJointConfig = /*#__PURE__*/function (_oimo$dynamics$constr12) {
    _inherits(oimo_dynamics_constraint_joint_SphericalJointConfig, _oimo$dynamics$constr12);

    var _super34 = _createSuper(oimo_dynamics_constraint_joint_SphericalJointConfig);

    function oimo_dynamics_constraint_joint_SphericalJointConfig() {
      var _this238;

      _classCallCheck(this, oimo_dynamics_constraint_joint_SphericalJointConfig);

      _this238 = _super34.call(this);
      _this238.springDamper = new oimo.dynamics.constraint.joint.SpringDamper();
      return _this238;
    }

    _createClass(oimo_dynamics_constraint_joint_SphericalJointConfig, [{
      key: "init",
      value: function init(rigidBody1, rigidBody2, worldAnchor) {
        this._init(rigidBody1, rigidBody2, worldAnchor);

        return this;
      }
    }]);

    return oimo_dynamics_constraint_joint_SphericalJointConfig;
  }(oimo.dynamics.constraint.joint.JointConfig);

  oimo.dynamics.constraint.joint.SpringDamper = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_joint_SpringDamper() {
      _classCallCheck(this, oimo_dynamics_constraint_joint_SpringDamper);

      this.frequency = 0;
      this.dampingRatio = 0;
      this.useSymplecticEuler = false;
    }

    _createClass(oimo_dynamics_constraint_joint_SpringDamper, [{
      key: "setSpring",
      value: function setSpring(frequency, dampingRatio) {
        this.frequency = frequency;
        this.dampingRatio = dampingRatio;
        return this;
      }
    }, {
      key: "setSymplecticEuler",
      value: function setSymplecticEuler(useSymplecticEuler) {
        this.useSymplecticEuler = useSymplecticEuler;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        var sd = new oimo.dynamics.constraint.joint.SpringDamper();
        sd.frequency = this.frequency;
        sd.dampingRatio = this.dampingRatio;
        sd.useSymplecticEuler = this.useSymplecticEuler;
        return sd;
      }
    }]);

    return oimo_dynamics_constraint_joint_SpringDamper;
  }();

  oimo.dynamics.constraint.joint.TranslationalLimitMotor = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_joint_TranslationalLimitMotor() {
      _classCallCheck(this, oimo_dynamics_constraint_joint_TranslationalLimitMotor);

      this.lowerLimit = 1;
      this.upperLimit = 0;
      this.motorForce = 0;
    }

    _createClass(oimo_dynamics_constraint_joint_TranslationalLimitMotor, [{
      key: "setLimits",
      value: function setLimits(lower, upper) {
        this.lowerLimit = lower;
        this.upperLimit = upper;
        return this;
      }
    }, {
      key: "setMotor",
      value: function setMotor(speed, force) {
        this.motorSpeed = speed;
        this.motorForce = force;
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        var lm = new oimo.dynamics.constraint.joint.TranslationalLimitMotor();
        lm.lowerLimit = this.lowerLimit;
        lm.upperLimit = this.upperLimit;
        lm.motorSpeed = this.motorSpeed;
        lm.motorForce = this.motorForce;
        return lm;
      }
    }]);

    return oimo_dynamics_constraint_joint_TranslationalLimitMotor;
  }();

  oimo.dynamics.constraint.joint.UniversalJoint = /*#__PURE__*/function (_oimo$dynamics$constr13) {
    _inherits(oimo_dynamics_constraint_joint_UniversalJoint, _oimo$dynamics$constr13);

    var _super35 = _createSuper(oimo_dynamics_constraint_joint_UniversalJoint);

    function oimo_dynamics_constraint_joint_UniversalJoint(config) {
      var _this239;

      _classCallCheck(this, oimo_dynamics_constraint_joint_UniversalJoint);

      _this239 = _super35.call(this, config, oimo.dynamics.constraint.joint.JointType.UNIVERSAL);
      var v = config.localAxis1;
      _this239._localBasisX1X = v.x;
      _this239._localBasisX1Y = v.y;
      _this239._localBasisX1Z = v.z;
      var v1 = config.localAxis2;
      _this239._localBasisZ2X = v1.x;
      _this239._localBasisZ2Y = v1.y;
      _this239._localBasisZ2Z = v1.z;

      _this239.buildLocalBasesFromX1Z2();

      _this239._angleX = 0;
      _this239._angleY = 0;
      _this239._angleZ = 0;
      _this239.xSingular = false;
      _this239.ySingular = false;
      _this239.zSingular = false;
      _this239._sd1 = config.springDamper1.clone();
      _this239._sd2 = config.springDamper2.clone();
      _this239._lm1 = config.limitMotor1.clone();
      _this239._lm2 = config.limitMotor2.clone();
      return _this239;
    }

    _createClass(oimo_dynamics_constraint_joint_UniversalJoint, [{
      key: "getInfo",
      value: function getInfo(info, timeStep, isPositionPart) {
        var erp = this.getErp(timeStep, isPositionPart);
        var linearRhsX;
        var linearRhsY;
        var linearRhsZ;
        linearRhsX = this.linearErrorX * erp;
        linearRhsY = this.linearErrorY * erp;
        linearRhsZ = this.linearErrorZ * erp;
        var angRhsY = this._angleY * erp;
        var crossR100;
        var crossR101;
        var crossR102;
        var crossR110;
        var crossR111;
        var crossR112;
        var crossR120;
        var crossR121;
        var crossR122;
        var crossR200;
        var crossR201;
        var crossR202;
        var crossR210;
        var crossR211;
        var crossR212;
        var crossR220;
        var crossR221;
        var crossR222;
        crossR100 = 0;
        crossR101 = -this._relativeAnchor1Z;
        crossR102 = this._relativeAnchor1Y;
        crossR110 = this._relativeAnchor1Z;
        crossR111 = 0;
        crossR112 = -this._relativeAnchor1X;
        crossR120 = -this._relativeAnchor1Y;
        crossR121 = this._relativeAnchor1X;
        crossR122 = 0;
        crossR200 = 0;
        crossR201 = -this._relativeAnchor2Z;
        crossR202 = this._relativeAnchor2Y;
        crossR210 = this._relativeAnchor2Z;
        crossR211 = 0;
        crossR212 = -this._relativeAnchor2X;
        crossR220 = -this._relativeAnchor2Y;
        crossR221 = this._relativeAnchor2X;
        crossR222 = 0;
        crossR100 = -crossR100;
        crossR101 = -crossR101;
        crossR102 = -crossR102;
        crossR110 = -crossR110;
        crossR111 = -crossR111;
        crossR112 = -crossR112;
        crossR120 = -crossR120;
        crossR121 = -crossR121;
        crossR122 = -crossR122;
        crossR200 = -crossR200;
        crossR201 = -crossR201;
        crossR202 = -crossR202;
        crossR210 = -crossR210;
        crossR211 = -crossR211;
        crossR212 = -crossR212;
        crossR220 = -crossR220;
        crossR221 = -crossR221;
        crossR222 = -crossR222;
        var motorMassX = this.computeEffectiveInertiaMoment(this._axisXX, this._axisXY, this._axisXZ);
        var motorMassZ = this.computeEffectiveInertiaMoment(this._axisZX, this._axisZY, this._axisZZ);
        var impulse = this._impulses[0];
        var row = info.rows[info.numRows++];
        var _this = row.jacobian;
        _this.lin1X = 0;
        _this.lin1Y = 0;
        _this.lin1Z = 0;
        _this.lin2X = 0;
        _this.lin2Y = 0;
        _this.lin2Z = 0;
        _this.ang1X = 0;
        _this.ang1Y = 0;
        _this.ang1Z = 0;
        _this.ang2X = 0;
        _this.ang2Y = 0;
        _this.ang2Z = 0;
        row.rhs = 0;
        row.cfm = 0;
        row.minImpulse = 0;
        row.maxImpulse = 0;
        row.motorSpeed = 0;
        row.motorMaxImpulse = 0;
        row.impulse = null;
        row.impulse = impulse;
        row.rhs = linearRhsX;
        row.cfm = 0;
        row.minImpulse = -1e65536;
        row.maxImpulse = 1e65536;
        var j = row.jacobian;
        j.lin1X = 1;
        j.lin1Y = 0;
        j.lin1Z = 0;
        j.lin2X = 1;
        j.lin2Y = 0;
        j.lin2Z = 0;
        j.ang1X = crossR100;
        j.ang1Y = crossR101;
        j.ang1Z = crossR102;
        j.ang2X = crossR200;
        j.ang2Y = crossR201;
        j.ang2Z = crossR202;
        var impulse1 = this._impulses[1];
        var row1 = info.rows[info.numRows++];
        var _this1 = row1.jacobian;
        _this1.lin1X = 0;
        _this1.lin1Y = 0;
        _this1.lin1Z = 0;
        _this1.lin2X = 0;
        _this1.lin2Y = 0;
        _this1.lin2Z = 0;
        _this1.ang1X = 0;
        _this1.ang1Y = 0;
        _this1.ang1Z = 0;
        _this1.ang2X = 0;
        _this1.ang2Y = 0;
        _this1.ang2Z = 0;
        row1.rhs = 0;
        row1.cfm = 0;
        row1.minImpulse = 0;
        row1.maxImpulse = 0;
        row1.motorSpeed = 0;
        row1.motorMaxImpulse = 0;
        row1.impulse = null;
        row1.impulse = impulse1;
        row1.rhs = linearRhsY;
        row1.cfm = 0;
        row1.minImpulse = -1e65536;
        row1.maxImpulse = 1e65536;
        j = row1.jacobian;
        j.lin1X = 0;
        j.lin1Y = 1;
        j.lin1Z = 0;
        j.lin2X = 0;
        j.lin2Y = 1;
        j.lin2Z = 0;
        j.ang1X = crossR110;
        j.ang1Y = crossR111;
        j.ang1Z = crossR112;
        j.ang2X = crossR210;
        j.ang2Y = crossR211;
        j.ang2Z = crossR212;
        var impulse2 = this._impulses[2];
        var row2 = info.rows[info.numRows++];
        var _this2 = row2.jacobian;
        _this2.lin1X = 0;
        _this2.lin1Y = 0;
        _this2.lin1Z = 0;
        _this2.lin2X = 0;
        _this2.lin2Y = 0;
        _this2.lin2Z = 0;
        _this2.ang1X = 0;
        _this2.ang1Y = 0;
        _this2.ang1Z = 0;
        _this2.ang2X = 0;
        _this2.ang2Y = 0;
        _this2.ang2Z = 0;
        row2.rhs = 0;
        row2.cfm = 0;
        row2.minImpulse = 0;
        row2.maxImpulse = 0;
        row2.motorSpeed = 0;
        row2.motorMaxImpulse = 0;
        row2.impulse = null;
        row2.impulse = impulse2;
        row2.rhs = linearRhsZ;
        row2.cfm = 0;
        row2.minImpulse = -1e65536;
        row2.maxImpulse = 1e65536;
        j = row2.jacobian;
        j.lin1X = 0;
        j.lin1Y = 0;
        j.lin1Z = 1;
        j.lin2X = 0;
        j.lin2Y = 0;
        j.lin2Z = 1;
        j.ang1X = crossR120;
        j.ang1Y = crossR121;
        j.ang1Z = crossR122;
        j.ang2X = crossR220;
        j.ang2Y = crossR221;
        j.ang2Z = crossR222;

        if (!this.xSingular && (this._sd1.frequency <= 0 || !isPositionPart)) {
          var _impulse12 = this._impulses[3];
          var _row12 = info.rows[info.numRows++];
          var _this240 = _row12.jacobian;
          _this240.lin1X = 0;
          _this240.lin1Y = 0;
          _this240.lin1Z = 0;
          _this240.lin2X = 0;
          _this240.lin2Y = 0;
          _this240.lin2Z = 0;
          _this240.ang1X = 0;
          _this240.ang1Y = 0;
          _this240.ang1Z = 0;
          _this240.ang2X = 0;
          _this240.ang2Y = 0;
          _this240.ang2Z = 0;
          _row12.rhs = 0;
          _row12.cfm = 0;
          _row12.minImpulse = 0;
          _row12.maxImpulse = 0;
          _row12.motorSpeed = 0;
          _row12.motorMaxImpulse = 0;
          _row12.impulse = null;
          _row12.impulse = _impulse12;
          this.setSolverInfoRowAngular(_row12, this._angleX, this._lm1, motorMassX, this._sd1, timeStep, isPositionPart);
          j = _row12.jacobian;
          j.ang1X = this._axisXX;
          j.ang1Y = this._axisXY;
          j.ang1Z = this._axisXZ;
          j.ang2X = this._axisXX;
          j.ang2Y = this._axisXY;
          j.ang2Z = this._axisXZ;
        }

        if (!this.ySingular) {
          var _impulse13 = this._impulses[4];
          var _row13 = info.rows[info.numRows++];
          var _this241 = _row13.jacobian;
          _this241.lin1X = 0;
          _this241.lin1Y = 0;
          _this241.lin1Z = 0;
          _this241.lin2X = 0;
          _this241.lin2Y = 0;
          _this241.lin2Z = 0;
          _this241.ang1X = 0;
          _this241.ang1Y = 0;
          _this241.ang1Z = 0;
          _this241.ang2X = 0;
          _this241.ang2Y = 0;
          _this241.ang2Z = 0;
          _row13.rhs = 0;
          _row13.cfm = 0;
          _row13.minImpulse = 0;
          _row13.maxImpulse = 0;
          _row13.motorSpeed = 0;
          _row13.motorMaxImpulse = 0;
          _row13.impulse = null;
          _row13.impulse = _impulse13;
          _row13.rhs = angRhsY;
          _row13.cfm = 0;
          _row13.minImpulse = -1e65536;
          _row13.maxImpulse = 1e65536;
          j = _row13.jacobian;
          j.ang1X = this._axisYX;
          j.ang1Y = this._axisYY;
          j.ang1Z = this._axisYZ;
          j.ang2X = this._axisYX;
          j.ang2Y = this._axisYY;
          j.ang2Z = this._axisYZ;
        }

        if (!this.zSingular && (this._sd2.frequency <= 0 || !isPositionPart)) {
          var _impulse14 = this._impulses[5];
          var _row14 = info.rows[info.numRows++];
          var _this242 = _row14.jacobian;
          _this242.lin1X = 0;
          _this242.lin1Y = 0;
          _this242.lin1Z = 0;
          _this242.lin2X = 0;
          _this242.lin2Y = 0;
          _this242.lin2Z = 0;
          _this242.ang1X = 0;
          _this242.ang1Y = 0;
          _this242.ang1Z = 0;
          _this242.ang2X = 0;
          _this242.ang2Y = 0;
          _this242.ang2Z = 0;
          _row14.rhs = 0;
          _row14.cfm = 0;
          _row14.minImpulse = 0;
          _row14.maxImpulse = 0;
          _row14.motorSpeed = 0;
          _row14.motorMaxImpulse = 0;
          _row14.impulse = null;
          _row14.impulse = _impulse14;
          this.setSolverInfoRowAngular(_row14, this._angleZ, this._lm2, motorMassZ, this._sd2, timeStep, isPositionPart);
          j = _row14.jacobian;
          j.ang1X = this._axisZX;
          j.ang1Y = this._axisZY;
          j.ang1Z = this._axisZZ;
          j.ang2X = this._axisZX;
          j.ang2Y = this._axisZY;
          j.ang2Z = this._axisZZ;
        }
      }
    }, {
      key: "_syncAnchors",
      value: function _syncAnchors() {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_UniversalJoint.prototype), "_syncAnchors", this).call(this);

        var angleAxisXX;
        var angleAxisXY;
        var angleAxisXZ;
        var angleAxisYX;
        var angleAxisYY;
        var angleAxisYZ;
        var angleAxisZX;
        var angleAxisZY;
        var angleAxisZZ;
        angleAxisXX = this._basisX1X;
        angleAxisXY = this._basisX1Y;
        angleAxisXZ = this._basisX1Z;
        angleAxisZX = this._basisZ2X;
        angleAxisZY = this._basisZ2Y;
        angleAxisZZ = this._basisZ2Z;
        angleAxisYX = angleAxisZY * angleAxisXZ - angleAxisZZ * angleAxisXY;
        angleAxisYY = angleAxisZZ * angleAxisXX - angleAxisZX * angleAxisXZ;
        angleAxisYZ = angleAxisZX * angleAxisXY - angleAxisZY * angleAxisXX;
        this._axisXX = angleAxisYY * angleAxisZZ - angleAxisYZ * angleAxisZY;
        this._axisXY = angleAxisYZ * angleAxisZX - angleAxisYX * angleAxisZZ;
        this._axisXZ = angleAxisYX * angleAxisZY - angleAxisYY * angleAxisZX;
        this._axisYX = angleAxisYX;
        this._axisYY = angleAxisYY;
        this._axisYZ = angleAxisYZ;
        this._axisZX = angleAxisXY * angleAxisYZ - angleAxisXZ * angleAxisYY;
        this._axisZY = angleAxisXZ * angleAxisYX - angleAxisXX * angleAxisYZ;
        this._axisZZ = angleAxisXX * angleAxisYY - angleAxisXY * angleAxisYX;
        var l = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ;

        if (l > 0) {
          l = 1 / Math.sqrt(l);
        }

        this._axisXX *= l;
        this._axisXY *= l;
        this._axisXZ *= l;
        var l1 = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ;

        if (l1 > 0) {
          l1 = 1 / Math.sqrt(l1);
        }

        this._axisYX *= l1;
        this._axisYY *= l1;
        this._axisYZ *= l1;
        var l2 = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ;

        if (l2 > 0) {
          l2 = 1 / Math.sqrt(l2);
        }

        this._axisZX *= l2;
        this._axisZY *= l2;
        this._axisZZ *= l2;
        this.xSingular = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ == 0;
        this.ySingular = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ == 0;
        this.zSingular = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ == 0;
        var rot100;
        var rot101;
        var rot102;
        var rot110;
        var rot111;
        var rot112;
        var rot120;
        var rot121;
        var rot122;
        var rot200;
        var rot201;
        var rot202;
        var rot210;
        var rot211;
        var rot212;
        var rot220;
        var rot221;
        var rot222;
        rot100 = this._basisX1X;
        rot101 = this._basisY1X;
        rot102 = this._basisZ1X;
        rot110 = this._basisX1Y;
        rot111 = this._basisY1Y;
        rot112 = this._basisZ1Y;
        rot120 = this._basisX1Z;
        rot121 = this._basisY1Z;
        rot122 = this._basisZ1Z;
        rot200 = this._basisX2X;
        rot201 = this._basisY2X;
        rot202 = this._basisZ2X;
        rot210 = this._basisX2Y;
        rot211 = this._basisY2Y;
        rot212 = this._basisZ2Y;
        rot220 = this._basisX2Z;
        rot221 = this._basisY2Z;
        rot222 = this._basisZ2Z;
        var relRot00;
        var relRot01;
        var relRot02;
        var relRot11;
        var relRot12;
        var relRot21;
        var relRot22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__11;

        var __tmp__12;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = rot100 * rot200 + rot110 * rot210 + rot120 * rot220;
        __tmp__01 = rot100 * rot201 + rot110 * rot211 + rot120 * rot221;
        __tmp__02 = rot100 * rot202 + rot110 * rot212 + rot120 * rot222;
        __tmp__11 = rot101 * rot201 + rot111 * rot211 + rot121 * rot221;
        __tmp__12 = rot101 * rot202 + rot111 * rot212 + rot121 * rot222;
        __tmp__21 = rot102 * rot201 + rot112 * rot211 + rot122 * rot221;
        __tmp__22 = rot102 * rot202 + rot112 * rot212 + rot122 * rot222;
        relRot00 = __tmp__00;
        relRot01 = __tmp__01;
        relRot02 = __tmp__02;
        relRot11 = __tmp__11;
        relRot12 = __tmp__12;
        relRot21 = __tmp__21;
        relRot22 = __tmp__22;
        var anglesX;
        var anglesY;
        var anglesZ;
        var sy = relRot02;

        if (sy <= -1) {
          var xSubZ = Math.atan2(relRot21, relRot11);
          anglesX = xSubZ * 0.5;
          anglesY = -1.570796326794895;
          anglesZ = -xSubZ * 0.5;
        } else if (sy >= 1) {
          var xAddZ = Math.atan2(relRot21, relRot11);
          anglesX = xAddZ * 0.5;
          anglesY = 1.570796326794895;
          anglesZ = xAddZ * 0.5;
        } else {
          anglesX = Math.atan2(-relRot12, relRot22);
          anglesY = Math.asin(sy);
          anglesZ = Math.atan2(-relRot01, relRot00);
        }

        this._angleX = anglesX;
        this._angleY = anglesY;
        this._angleZ = anglesZ;
        this.linearErrorX = this._anchor2X - this._anchor1X;
        this.linearErrorY = this._anchor2Y - this._anchor1Y;
        this.linearErrorZ = this._anchor2Z - this._anchor1Z;
      }
    }, {
      key: "_getVelocitySolverInfo",
      value: function _getVelocitySolverInfo(timeStep, info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_UniversalJoint.prototype), "_getVelocitySolverInfo", this).call(this, timeStep, info);

        this.getInfo(info, timeStep, false);
      }
    }, {
      key: "_getPositionSolverInfo",
      value: function _getPositionSolverInfo(info) {
        _get(_getPrototypeOf(oimo_dynamics_constraint_joint_UniversalJoint.prototype), "_getPositionSolverInfo", this).call(this, info);

        this.getInfo(info, null, true);
      }
    }, {
      key: "getAxis1",
      value: function getAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._basisX1X;
        v.y = this._basisX1Y;
        v.z = this._basisX1Z;
        return v;
      }
    }, {
      key: "getAxis2",
      value: function getAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._basisZ2X;
        v.y = this._basisZ2Y;
        v.z = this._basisZ2Z;
        return v;
      }
    }, {
      key: "getAxis1To",
      value: function getAxis1To(axis) {
        axis.x = this._basisX1X;
        axis.y = this._basisX1Y;
        axis.z = this._basisX1Z;
      }
    }, {
      key: "getAxis2To",
      value: function getAxis2To(axis) {
        axis.x = this._basisZ2X;
        axis.y = this._basisZ2Y;
        axis.z = this._basisZ2Z;
      }
    }, {
      key: "getLocalAxis1",
      value: function getLocalAxis1() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisX1X;
        v.y = this._localBasisX1Y;
        v.z = this._localBasisX1Z;
        return v;
      }
    }, {
      key: "getLocalAxis2",
      value: function getLocalAxis2() {
        var v = new oimo.common.Vec3();
        v.x = this._localBasisZ2X;
        v.y = this._localBasisZ2Y;
        v.z = this._localBasisZ2Z;
        return v;
      }
    }, {
      key: "getLocalAxis1To",
      value: function getLocalAxis1To(axis) {
        axis.x = this._localBasisX1X;
        axis.y = this._localBasisX1Y;
        axis.z = this._localBasisX1Z;
      }
    }, {
      key: "getLocalAxis2To",
      value: function getLocalAxis2To(axis) {
        axis.x = this._localBasisZ2X;
        axis.y = this._localBasisZ2Y;
        axis.z = this._localBasisZ2Z;
      }
    }, {
      key: "getSpringDamper1",
      value: function getSpringDamper1() {
        return this._sd1;
      }
    }, {
      key: "getSpringDamper2",
      value: function getSpringDamper2() {
        return this._sd2;
      }
    }, {
      key: "getLimitMotor1",
      value: function getLimitMotor1() {
        return this._lm1;
      }
    }, {
      key: "getLimitMotor2",
      value: function getLimitMotor2() {
        return this._lm2;
      }
    }, {
      key: "getAngle1",
      value: function getAngle1() {
        return this._angleX;
      }
    }, {
      key: "getAngle2",
      value: function getAngle2() {
        return this._angleZ;
      }
    }]);

    return oimo_dynamics_constraint_joint_UniversalJoint;
  }(oimo.dynamics.constraint.joint.Joint);

  oimo.dynamics.constraint.joint.UniversalJointConfig = /*#__PURE__*/function (_oimo$dynamics$constr14) {
    _inherits(oimo_dynamics_constraint_joint_UniversalJointConfig, _oimo$dynamics$constr14);

    var _super36 = _createSuper(oimo_dynamics_constraint_joint_UniversalJointConfig);

    function oimo_dynamics_constraint_joint_UniversalJointConfig() {
      var _this243;

      _classCallCheck(this, oimo_dynamics_constraint_joint_UniversalJointConfig);

      _this243 = _super36.call(this);
      _this243.localAxis1 = new oimo.common.Vec3(1, 0, 0);
      _this243.localAxis2 = new oimo.common.Vec3(1, 0, 0);
      _this243.springDamper1 = new oimo.dynamics.constraint.joint.SpringDamper();
      _this243.springDamper2 = new oimo.dynamics.constraint.joint.SpringDamper();
      _this243.limitMotor1 = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
      _this243.limitMotor2 = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
      return _this243;
    }

    _createClass(oimo_dynamics_constraint_joint_UniversalJointConfig, [{
      key: "init",
      value: function init(rigidBody1, rigidBody2, worldAnchor, worldAxis1, worldAxis2) {
        this._init(rigidBody1, rigidBody2, worldAnchor);

        var localVector = this.localAxis1;
        var vX;
        var vY;
        var vZ;
        vX = worldAxis1.x;
        vY = worldAxis1.y;
        vZ = worldAxis1.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
        __tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
        __tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localVector.x = vX;
        localVector.y = vY;
        localVector.z = vZ;
        var localVector1 = this.localAxis2;
        var vX1;
        var vY1;
        var vZ1;
        vX1 = worldAxis2.x;
        vY1 = worldAxis2.y;
        vZ1 = worldAxis2.z;

        var __tmp__X1;

        var __tmp__Y1;

        var __tmp__Z1;

        __tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
        __tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
        __tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
        vX1 = __tmp__X1;
        vY1 = __tmp__Y1;
        vZ1 = __tmp__Z1;
        localVector1.x = vX1;
        localVector1.y = vY1;
        localVector1.z = vZ1;
        return this;
      }
    }]);

    return oimo_dynamics_constraint_joint_UniversalJointConfig;
  }(oimo.dynamics.constraint.joint.JointConfig);

  if (!oimo.dynamics.constraint.solver) oimo.dynamics.constraint.solver = {};
  oimo.dynamics.constraint.solver.ConstraintSolverType = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_solver_ConstraintSolverType() {
    _classCallCheck(this, oimo_dynamics_constraint_solver_ConstraintSolverType);
  });
  if (!oimo.dynamics.constraint.solver.common) oimo.dynamics.constraint.solver.common = {};
  oimo.dynamics.constraint.solver.common.ContactSolverMassDataRow = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_solver_common_ContactSolverMassDataRow() {
    _classCallCheck(this, oimo_dynamics_constraint_solver_common_ContactSolverMassDataRow);

    this.invMLinN1X = 0;
    this.invMLinN1Y = 0;
    this.invMLinN1Z = 0;
    this.invMLinN2X = 0;
    this.invMLinN2Y = 0;
    this.invMLinN2Z = 0;
    this.invMAngN1X = 0;
    this.invMAngN1Y = 0;
    this.invMAngN1Z = 0;
    this.invMAngN2X = 0;
    this.invMAngN2Y = 0;
    this.invMAngN2Z = 0;
    this.invMLinT1X = 0;
    this.invMLinT1Y = 0;
    this.invMLinT1Z = 0;
    this.invMLinT2X = 0;
    this.invMLinT2Y = 0;
    this.invMLinT2Z = 0;
    this.invMAngT1X = 0;
    this.invMAngT1Y = 0;
    this.invMAngT1Z = 0;
    this.invMAngT2X = 0;
    this.invMAngT2Y = 0;
    this.invMAngT2Z = 0;
    this.invMLinB1X = 0;
    this.invMLinB1Y = 0;
    this.invMLinB1Z = 0;
    this.invMLinB2X = 0;
    this.invMLinB2Y = 0;
    this.invMLinB2Z = 0;
    this.invMAngB1X = 0;
    this.invMAngB1Y = 0;
    this.invMAngB1Z = 0;
    this.invMAngB2X = 0;
    this.invMAngB2Y = 0;
    this.invMAngB2Z = 0;
    this.massN = 0;
    this.massTB00 = 0;
    this.massTB01 = 0;
    this.massTB10 = 0;
    this.massTB11 = 0;
  });
  oimo.dynamics.constraint.solver.common.JointSolverMassDataRow = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_solver_common_JointSolverMassDataRow() {
    _classCallCheck(this, oimo_dynamics_constraint_solver_common_JointSolverMassDataRow);

    this.invMLin1X = 0;
    this.invMLin1Y = 0;
    this.invMLin1Z = 0;
    this.invMLin2X = 0;
    this.invMLin2Y = 0;
    this.invMLin2Z = 0;
    this.invMAng1X = 0;
    this.invMAng1Y = 0;
    this.invMAng1Z = 0;
    this.invMAng2X = 0;
    this.invMAng2Y = 0;
    this.invMAng2Z = 0;
    this.mass = 0;
    this.massWithoutCfm = 0;
  });
  if (!oimo.dynamics.constraint.solver.direct) oimo.dynamics.constraint.solver.direct = {};

  oimo.dynamics.constraint.solver.direct.Boundary = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_solver_direct_Boundary(maxRows) {
      _classCallCheck(this, oimo_dynamics_constraint_solver_direct_Boundary);

      this.iBounded = new Array(maxRows);
      this.iUnbounded = new Array(maxRows);
      this.signs = new Array(maxRows);
      this.b = new Array(maxRows);
      this.numBounded = 0;
      this.numUnbounded = 0;
      this.matrixId = 0;
    }

    _createClass(oimo_dynamics_constraint_solver_direct_Boundary, [{
      key: "init",
      value: function init(buildInfo) {
        this.numBounded = buildInfo.numBounded;
        var _g = 0;
        var _g1 = this.numBounded;

        while (_g < _g1) {
          var i = _g++;
          this.iBounded[i] = buildInfo.iBounded[i];
          this.signs[i] = buildInfo.signs[i];
        }

        this.numUnbounded = buildInfo.numUnbounded;
        this.matrixId = 0;
        var _g2 = 0;
        var _g3 = this.numUnbounded;

        while (_g2 < _g3) {
          var _i138 = _g2++;

          var idx = buildInfo.iUnbounded[_i138];
          this.iUnbounded[_i138] = idx;
          this.matrixId |= 1 << idx;
        }
      }
    }, {
      key: "computeImpulses",
      value: function computeImpulses(info, mass, relVels, impulses, dImpulses, impulseFactor, noCheck) {
        var _g = 0;
        var _g1 = this.numUnbounded;

        while (_g < _g1) {
          var idx = this.iUnbounded[_g++];
          var row = info.rows[idx];
          this.b[idx] = row.rhs * impulseFactor - relVels[idx] - row.cfm * impulses[idx];
        }

        var invMassWithoutCfm = mass._invMassWithoutCfm;
        var _g2 = 0;
        var _g3 = this.numBounded;

        while (_g2 < _g3) {
          var i = _g2++;
          var _idx = this.iBounded[i];
          var sign = this.signs[i];
          var _row15 = info.rows[_idx];
          var dImpulse = (sign < 0 ? _row15.minImpulse : sign > 0 ? _row15.maxImpulse : 0) - impulses[_idx];
          dImpulses[_idx] = dImpulse;

          if (dImpulse != 0) {
            var _g298 = 0;
            var _g299 = this.numUnbounded;

            while (_g298 < _g299) {
              var idx2 = this.iUnbounded[_g298++];
              this.b[idx2] -= invMassWithoutCfm[_idx][idx2] * dImpulse;
            }
          }
        }

        var indices = this.iUnbounded;
        var n = this.numUnbounded;
        var id = 0;
        var _g4 = 0;

        while (_g4 < n) {
          id |= 1 << indices[_g4++];
        }

        var massMatrix;

        if (mass._cacheComputed[id]) {
          massMatrix = mass._cachedSubmatrices[id];
        } else {
          mass.computeSubmatrix(id, indices, n);
          mass._cacheComputed[id] = true;
          massMatrix = mass._cachedSubmatrices[id];
        }

        var ok = true;
        var _g5 = 0;
        var _g6 = this.numUnbounded;

        while (_g5 < _g6) {
          var _i139 = _g5++;

          var _idx2 = this.iUnbounded[_i139];
          var _row16 = info.rows[_idx2];
          var oldImpulse = impulses[_idx2];
          var impulse = oldImpulse;
          var _g300 = 0;
          var _g301 = this.numUnbounded;

          while (_g300 < _g301) {
            var j = _g300++;
            impulse += this.b[this.iUnbounded[j]] * massMatrix[_i139][j];
          }

          if (impulse < _row16.minImpulse - oimo.common.Setting.directMlcpSolverEps || impulse > _row16.maxImpulse + oimo.common.Setting.directMlcpSolverEps) {
            ok = false;
            break;
          }

          dImpulses[_idx2] = impulse - oldImpulse;
        }

        if (noCheck) {
          return true;
        }

        if (!ok) {
          return false;
        }

        var _g7 = 0;
        var _g8 = this.numBounded;

        while (_g7 < _g8) {
          var _i140 = _g7++;

          var _idx3 = this.iBounded[_i140];
          var _row17 = info.rows[_idx3];
          var _sign = this.signs[_i140];
          var error = 0;
          var newImpulse = impulses[_idx3] + dImpulses[_idx3];
          var relVel = relVels[_idx3];
          var _g302 = 0;
          var _g303 = info.numRows;

          while (_g302 < _g303) {
            var _j4 = _g302++;

            relVel += invMassWithoutCfm[_idx3][_j4] * dImpulses[_j4];
          }

          error = _row17.rhs * impulseFactor - relVel - _row17.cfm * newImpulse;

          if (_sign < 0 && error > oimo.common.Setting.directMlcpSolverEps || _sign > 0 && error < -oimo.common.Setting.directMlcpSolverEps) {
            ok = false;
            break;
          }
        }

        return ok;
      }
    }]);

    return oimo_dynamics_constraint_solver_direct_Boundary;
  }();

  oimo.dynamics.constraint.solver.direct.BoundaryBuildInfo = /*#__PURE__*/_createClass(function oimo_dynamics_constraint_solver_direct_BoundaryBuildInfo(size) {
    _classCallCheck(this, oimo_dynamics_constraint_solver_direct_BoundaryBuildInfo);

    this.size = size;
    this.numBounded = 0;
    this.iBounded = new Array(size);
    this.signs = new Array(size);
    this.numUnbounded = 0;
    this.iUnbounded = new Array(size);
  });

  oimo.dynamics.constraint.solver.direct.BoundaryBuilder = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_solver_direct_BoundaryBuilder(maxRows) {
      _classCallCheck(this, oimo_dynamics_constraint_solver_direct_BoundaryBuilder);

      this.maxRows = maxRows;
      this.numBoundaries = 0;
      this.boundaries = new Array(1 << maxRows);
      this.bbInfo = new oimo.dynamics.constraint.solver.direct.BoundaryBuildInfo(maxRows);
    }

    _createClass(oimo_dynamics_constraint_solver_direct_BoundaryBuilder, [{
      key: "buildBoundariesRecursive",
      value: function buildBoundariesRecursive(info, i) {
        if (i == info.numRows) {
          if (this.boundaries[this.numBoundaries] == null) {
            this.boundaries[this.numBoundaries] = new oimo.dynamics.constraint.solver.direct.Boundary(this.maxRows);
          }

          this.boundaries[this.numBoundaries++].init(this.bbInfo);
          return;
        }

        var row = info.rows[i];
        var lowerLimitEnabled = row.minImpulse > -1e65536;
        var upperLimitEnabled = row.maxImpulse < 1e65536;

        if (row.minImpulse == 0 && row.maxImpulse == 0) {
          var _this244 = this.bbInfo;
          _this244.iBounded[_this244.numBounded] = i;
          _this244.signs[_this244.numBounded] = 0;
          _this244.numBounded++;
          this.buildBoundariesRecursive(info, i + 1);
          this.bbInfo.numBounded--;
          return;
        }

        var _this = this.bbInfo;
        _this.iUnbounded[_this.numUnbounded] = i;
        _this.numUnbounded++;
        this.buildBoundariesRecursive(info, i + 1);
        this.bbInfo.numUnbounded--;

        if (lowerLimitEnabled) {
          var _this245 = this.bbInfo;
          _this245.iBounded[_this245.numBounded] = i;
          _this245.signs[_this245.numBounded] = -1;
          _this245.numBounded++;
          this.buildBoundariesRecursive(info, i + 1);
          this.bbInfo.numBounded--;
        }

        if (upperLimitEnabled) {
          var _this246 = this.bbInfo;
          _this246.iBounded[_this246.numBounded] = i;
          _this246.signs[_this246.numBounded] = 1;
          _this246.numBounded++;
          this.buildBoundariesRecursive(info, i + 1);
          this.bbInfo.numBounded--;
        }
      }
    }, {
      key: "buildBoundaries",
      value: function buildBoundaries(info) {
        this.numBoundaries = 0;
        var _this = this.bbInfo;
        _this.numBounded = 0;
        _this.numUnbounded = 0;
        this.buildBoundariesRecursive(info, 0);
      }
    }]);

    return oimo_dynamics_constraint_solver_direct_BoundaryBuilder;
  }();

  oimo.dynamics.constraint.solver.direct.BoundarySelector = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_solver_direct_BoundarySelector(n) {
      _classCallCheck(this, oimo_dynamics_constraint_solver_direct_BoundarySelector);

      this.n = n;
      this.indices = new Array(n);
      this.tmpIndices = new Array(n);
      var _g = 0;

      while (_g < n) {
        var i = _g++;
        this.indices[i] = i;
      }
    }

    _createClass(oimo_dynamics_constraint_solver_direct_BoundarySelector, [{
      key: "getIndex",
      value: function getIndex(i) {
        return this.indices[i];
      }
    }, {
      key: "select",
      value: function select(index) {
        var i = 0;

        while (this.indices[i] != index) {
          ++i;
        }

        while (i > 0) {
          var tmp = this.indices[i];
          this.indices[i] = this.indices[i - 1];
          this.indices[i - 1] = tmp;
          --i;
        }
      }
    }, {
      key: "setSize",
      value: function setSize(size) {
        var numSmaller = 0;
        var numGreater = 0;
        var _g = 0;
        var _g1 = this.n;

        while (_g < _g1) {
          var idx = this.indices[_g++];

          if (idx < size) {
            this.tmpIndices[numSmaller] = idx;
            ++numSmaller;
          } else {
            this.tmpIndices[size + numGreater] = idx;
            ++numGreater;
          }
        }

        var tmp = this.indices;
        this.indices = this.tmpIndices;
        this.tmpIndices = tmp;
      }
    }]);

    return oimo_dynamics_constraint_solver_direct_BoundarySelector;
  }();

  oimo.dynamics.constraint.solver.direct.DirectJointConstraintSolver = /*#__PURE__*/function (_oimo$dynamics$constr15) {
    _inherits(oimo_dynamics_constraint_solver_direct_DirectJointConstraintSolver, _oimo$dynamics$constr15);

    var _super37 = _createSuper(oimo_dynamics_constraint_solver_direct_DirectJointConstraintSolver);

    function oimo_dynamics_constraint_solver_direct_DirectJointConstraintSolver(joint) {
      var _this247;

      _classCallCheck(this, oimo_dynamics_constraint_solver_direct_DirectJointConstraintSolver);

      _this247 = _super37.call(this);
      _this247.joint = joint;
      _this247.info = new oimo.dynamics.constraint.info.joint.JointSolverInfo();
      var maxRows = oimo.common.Setting.maxJacobianRows;
      _this247.massMatrix = new oimo.dynamics.constraint.solver.direct.MassMatrix(maxRows);
      _this247.boundaryBuilder = new oimo.dynamics.constraint.solver.direct.BoundaryBuilder(maxRows);
      _this247.massData = new Array(maxRows);
      var _g = 0;
      var _g1 = _this247.massData.length;

      while (_g < _g1) {
        _this247.massData[_g++] = new oimo.dynamics.constraint.solver.common.JointSolverMassDataRow();
      }

      var numMaxBoundaries = _this247.boundaryBuilder.boundaries.length;
      _this247.velBoundarySelector = new oimo.dynamics.constraint.solver.direct.BoundarySelector(numMaxBoundaries);
      _this247.posBoundarySelector = new oimo.dynamics.constraint.solver.direct.BoundarySelector(numMaxBoundaries);
      _this247.relVels = new Array(maxRows);
      _this247.impulses = new Array(maxRows);
      _this247.dImpulses = new Array(maxRows);
      _this247.dTotalImpulses = new Array(maxRows);
      var _g2 = 0;

      while (_g2 < maxRows) {
        var i = _g2++;
        _this247.relVels[i] = 0;
        _this247.impulses[i] = 0;
        _this247.dImpulses[i] = 0;
        _this247.dTotalImpulses[i] = 0;
      }

      return _this247;
    }

    _createClass(oimo_dynamics_constraint_solver_direct_DirectJointConstraintSolver, [{
      key: "preSolveVelocity",
      value: function preSolveVelocity(timeStep) {
        this.joint._syncAnchors();

        this.joint._getVelocitySolverInfo(timeStep, this.info);

        this._b1 = this.info.b1;
        this._b2 = this.info.b2;
        this.massMatrix.computeInvMass(this.info, this.massData);
        var _this = this.boundaryBuilder;
        _this.numBoundaries = 0;
        var _this1 = _this.bbInfo;
        _this1.numBounded = 0;
        _this1.numUnbounded = 0;

        _this.buildBoundariesRecursive(this.info, 0);

        var _this2 = this.velBoundarySelector;
        var size = this.boundaryBuilder.numBoundaries;
        var numSmaller = 0;
        var numGreater = 0;
        var _g = 0;
        var _g1 = _this2.n;

        while (_g < _g1) {
          var idx = _this2.indices[_g++];

          if (idx < size) {
            _this2.tmpIndices[numSmaller] = idx;
            ++numSmaller;
          } else {
            _this2.tmpIndices[size + numGreater] = idx;
            ++numGreater;
          }
        }

        var tmp = _this2.indices;
        _this2.indices = _this2.tmpIndices;
        _this2.tmpIndices = tmp;
      }
    }, {
      key: "warmStart",
      value: function warmStart(timeStep) {
        var factor = this.joint._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE ? oimo.common.Setting.jointWarmStartingFactorForBaungarte : oimo.common.Setting.jointWarmStartingFactor;
        factor *= timeStep.dtRatio;

        if (factor <= 0) {
          var _g304 = 0;
          var _g305 = this.info.numRows;

          while (_g304 < _g305) {
            var _this = this.info.rows[_g304++].impulse;
            _this.impulse = 0;
            _this.impulseM = 0;
            _this.impulseP = 0;
          }

          return;
        }

        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var imp = row.impulse;
          var impulse = imp.impulse * factor;

          if (impulse < row.minImpulse) {
            impulse = row.minImpulse;
          } else if (impulse > row.maxImpulse) {
            impulse = row.maxImpulse;
          }

          imp.impulse = impulse;

          if (row.motorMaxImpulse > 0) {
            var impulseM = imp.impulseM * factor;
            var max = row.motorMaxImpulse;

            if (impulseM < -max) {
              impulseM = -max;
            } else if (impulseM > max) {
              impulseM = max;
            }

            imp.impulseM = impulseM;
          } else {
            imp.impulseM = 0;
          }

          this.dImpulses[i] = imp.impulse + imp.impulseM;
        }

        var impulses = this.dImpulses;
        var linearSet = false;
        var angularSet = false;
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._velX;
        lv1Y = this._b1._velY;
        lv1Z = this._b1._velZ;
        lv2X = this._b2._velX;
        lv2Y = this._b2._velY;
        lv2Z = this._b2._velZ;
        av1X = this._b1._angVelX;
        av1Y = this._b1._angVelY;
        av1Z = this._b1._angVelZ;
        av2X = this._b2._angVelX;
        av2Y = this._b2._angVelY;
        av2Z = this._b2._angVelZ;
        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          var _i141 = _g2++;

          var j = this.info.rows[_i141].jacobian;
          var md = this.massData[_i141];
          var _imp = impulses[_i141];

          if ((j.flag & 1) != 0) {
            lv1X += md.invMLin1X * _imp;
            lv1Y += md.invMLin1Y * _imp;
            lv1Z += md.invMLin1Z * _imp;
            lv2X += md.invMLin2X * -_imp;
            lv2Y += md.invMLin2Y * -_imp;
            lv2Z += md.invMLin2Z * -_imp;
            linearSet = true;
          }

          if ((j.flag & 2) != 0) {
            av1X += md.invMAng1X * _imp;
            av1Y += md.invMAng1Y * _imp;
            av1Z += md.invMAng1Z * _imp;
            av2X += md.invMAng2X * -_imp;
            av2Y += md.invMAng2Y * -_imp;
            av2Z += md.invMAng2Z * -_imp;
            angularSet = true;
          }
        }

        if (linearSet) {
          this._b1._velX = lv1X;
          this._b1._velY = lv1Y;
          this._b1._velZ = lv1Z;
          this._b2._velX = lv2X;
          this._b2._velY = lv2Y;
          this._b2._velZ = lv2Z;
        }

        if (angularSet) {
          this._b1._angVelX = av1X;
          this._b1._angVelY = av1Y;
          this._b1._angVelZ = av1Z;
          this._b2._angVelX = av2X;
          this._b2._angVelY = av2Y;
          this._b2._angVelZ = av2Z;
        }
      }
    }, {
      key: "solveVelocity",
      value: function solveVelocity() {
        var numRows = this.info.numRows;
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._velX;
        lv1Y = this._b1._velY;
        lv1Z = this._b1._velZ;
        lv2X = this._b2._velX;
        lv2Y = this._b2._velY;
        lv2Z = this._b2._velZ;
        av1X = this._b1._angVelX;
        av1Y = this._b1._angVelY;
        av1Z = this._b1._angVelZ;
        av2X = this._b2._angVelX;
        av2Y = this._b2._angVelY;
        av2Z = this._b2._angVelZ;
        var _g = 0;

        while (_g < numRows) {
          var i = _g++;
          var row = this.info.rows[i];
          var j = row.jacobian;
          var relVel = 0;
          relVel += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
          relVel -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
          relVel += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
          relVel -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
          this.relVels[i] = relVel;
          this.impulses[i] = row.impulse.impulse;
          this.dTotalImpulses[i] = 0;
        }

        var invMass = this.massMatrix._invMassWithoutCfm;
        var _g1 = 0;

        while (_g1 < numRows) {
          var _i142 = _g1++;

          var _row18 = this.info.rows[_i142];
          var imp = _row18.impulse;

          if (_row18.motorMaxImpulse > 0) {
            var oldImpulseM = imp.impulseM;
            var impulseM = oldImpulseM + this.massData[_i142].massWithoutCfm * (-_row18.motorSpeed - this.relVels[_i142]);
            var maxImpulseM = _row18.motorMaxImpulse;

            if (impulseM < -maxImpulseM) {
              impulseM = -maxImpulseM;
            } else if (impulseM > maxImpulseM) {
              impulseM = maxImpulseM;
            }

            imp.impulseM = impulseM;
            var dImpulseM = impulseM - oldImpulseM;
            this.dTotalImpulses[_i142] = dImpulseM;
            var _g306 = 0;

            while (_g306 < numRows) {
              var _j5 = _g306++;

              this.relVels[_j5] += dImpulseM * invMass[_i142][_j5];
            }
          }
        }

        var solved = false;
        var _g2 = 0;
        var _g3 = this.boundaryBuilder.numBoundaries;

        while (_g2 < _g3) {
          var idx = this.velBoundarySelector.indices[_g2++];

          if (this.boundaryBuilder.boundaries[idx].computeImpulses(this.info, this.massMatrix, this.relVels, this.impulses, this.dImpulses, 1, false)) {
            var _g307 = 0;

            while (_g307 < numRows) {
              var _j6 = _g307++;

              var dimp = this.dImpulses[_j6];
              this.info.rows[_j6].impulse.impulse += dimp;
              this.dTotalImpulses[_j6] += dimp;
            }

            var impulses = this.dTotalImpulses;
            var linearSet = false;
            var angularSet = false;

            var _lv1X = void 0;

            var _lv1Y = void 0;

            var _lv1Z = void 0;

            var _lv2X = void 0;

            var _lv2Y = void 0;

            var _lv2Z = void 0;

            var _av1X = void 0;

            var _av1Y = void 0;

            var _av1Z = void 0;

            var _av2X = void 0;

            var _av2Y = void 0;

            var _av2Z = void 0;

            _lv1X = this._b1._velX;
            _lv1Y = this._b1._velY;
            _lv1Z = this._b1._velZ;
            _lv2X = this._b2._velX;
            _lv2Y = this._b2._velY;
            _lv2Z = this._b2._velZ;
            _av1X = this._b1._angVelX;
            _av1Y = this._b1._angVelY;
            _av1Z = this._b1._angVelZ;
            _av2X = this._b2._angVelX;
            _av2Y = this._b2._angVelY;
            _av2Z = this._b2._angVelZ;
            var _g308 = 0;
            var _g309 = this.info.numRows;

            while (_g308 < _g309) {
              var _i144 = _g308++;

              var _j7 = this.info.rows[_i144].jacobian;
              var md = this.massData[_i144];
              var _imp2 = impulses[_i144];

              if ((_j7.flag & 1) != 0) {
                _lv1X += md.invMLin1X * _imp2;
                _lv1Y += md.invMLin1Y * _imp2;
                _lv1Z += md.invMLin1Z * _imp2;
                _lv2X += md.invMLin2X * -_imp2;
                _lv2Y += md.invMLin2Y * -_imp2;
                _lv2Z += md.invMLin2Z * -_imp2;
                linearSet = true;
              }

              if ((_j7.flag & 2) != 0) {
                _av1X += md.invMAng1X * _imp2;
                _av1Y += md.invMAng1Y * _imp2;
                _av1Z += md.invMAng1Z * _imp2;
                _av2X += md.invMAng2X * -_imp2;
                _av2Y += md.invMAng2Y * -_imp2;
                _av2Z += md.invMAng2Z * -_imp2;
                angularSet = true;
              }
            }

            if (linearSet) {
              this._b1._velX = _lv1X;
              this._b1._velY = _lv1Y;
              this._b1._velZ = _lv1Z;
              this._b2._velX = _lv2X;
              this._b2._velY = _lv2Y;
              this._b2._velZ = _lv2Z;
            }

            if (angularSet) {
              this._b1._angVelX = _av1X;
              this._b1._angVelY = _av1Y;
              this._b1._angVelZ = _av1Z;
              this._b2._angVelX = _av2X;
              this._b2._angVelY = _av2Y;
              this._b2._angVelZ = _av2Z;
            }

            var _this = this.velBoundarySelector;
            var _i143 = 0;

            while (_this.indices[_i143] != idx) {
              ++_i143;
            }

            while (_i143 > 0) {
              var tmp = _this.indices[_i143];
              _this.indices[_i143] = _this.indices[_i143 - 1];
              _this.indices[_i143 - 1] = tmp;
              --_i143;
            }

            solved = true;
            break;
          }
        }

        if (!solved) {
          console.log("src/oimo/dynamics/constraint/solver/direct/DirectJointConstraintSolver.hx:335:", "could not find solution. (velocity)");
          return;
        }
      }
    }, {
      key: "postSolveVelocity",
      value: function postSolveVelocity(timeStep) {
        var linX;
        var linY;
        var linZ;
        var angX;
        var angY;
        var angZ;
        linX = 0;
        linY = 0;
        linZ = 0;
        angX = 0;
        angY = 0;
        angZ = 0;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var row = this.info.rows[_g++];
          var imp = row.impulse;
          var j = row.jacobian;

          if ((j.flag & 1) != 0) {
            linX += j.lin1X * imp.impulse;
            linY += j.lin1Y * imp.impulse;
            linZ += j.lin1Z * imp.impulse;
          } else if ((j.flag & 2) != 0) {
            angX += j.ang1X * imp.impulse;
            angY += j.ang1Y * imp.impulse;
            angZ += j.ang1Z * imp.impulse;
          }
        }

        this.joint._appliedForceX = linX * timeStep.invDt;
        this.joint._appliedForceY = linY * timeStep.invDt;
        this.joint._appliedForceZ = linZ * timeStep.invDt;
        this.joint._appliedTorqueX = angX * timeStep.invDt;
        this.joint._appliedTorqueY = angY * timeStep.invDt;
        this.joint._appliedTorqueZ = angZ * timeStep.invDt;
      }
    }, {
      key: "preSolvePosition",
      value: function preSolvePosition(timeStep) {
        this.joint._syncAnchors();

        this.joint._getPositionSolverInfo(this.info);

        this._b1 = this.info.b1;
        this._b2 = this.info.b2;
        this.massMatrix.computeInvMass(this.info, this.massData);
        var _this = this.boundaryBuilder;
        _this.numBoundaries = 0;
        var _this1 = _this.bbInfo;
        _this1.numBounded = 0;
        _this1.numUnbounded = 0;

        _this.buildBoundariesRecursive(this.info, 0);

        var _this2 = this.posBoundarySelector;
        var size = this.boundaryBuilder.numBoundaries;
        var numSmaller = 0;
        var numGreater = 0;
        var _g = 0;
        var _g1 = _this2.n;

        while (_g < _g1) {
          var idx = _this2.indices[_g++];

          if (idx < size) {
            _this2.tmpIndices[numSmaller] = idx;
            ++numSmaller;
          } else {
            _this2.tmpIndices[size + numGreater] = idx;
            ++numGreater;
          }
        }

        var tmp = _this2.indices;
        _this2.indices = _this2.tmpIndices;
        _this2.tmpIndices = tmp;
        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          this.info.rows[_g2++].impulse.impulseP = 0;
        }
      }
    }, {
      key: "solvePositionSplitImpulse",
      value: function solvePositionSplitImpulse() {
        var numRows = this.info.numRows;
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._pseudoVelX;
        lv1Y = this._b1._pseudoVelY;
        lv1Z = this._b1._pseudoVelZ;
        lv2X = this._b2._pseudoVelX;
        lv2Y = this._b2._pseudoVelY;
        lv2Z = this._b2._pseudoVelZ;
        av1X = this._b1._angPseudoVelX;
        av1Y = this._b1._angPseudoVelY;
        av1Z = this._b1._angPseudoVelZ;
        av2X = this._b2._angPseudoVelX;
        av2Y = this._b2._angPseudoVelY;
        av2Z = this._b2._angPseudoVelZ;
        var _g = 0;

        while (_g < numRows) {
          var i = _g++;
          var row = this.info.rows[i];
          var j = row.jacobian;
          var relVel = 0;
          relVel += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
          relVel -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
          relVel += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
          relVel -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
          this.relVels[i] = relVel;
          this.impulses[i] = row.impulse.impulseP;
        }

        var solved = false;
        var _g1 = 0;
        var _g2 = this.boundaryBuilder.numBoundaries;

        while (_g1 < _g2) {
          var idx = this.posBoundarySelector.indices[_g1++];

          if (this.boundaryBuilder.boundaries[idx].computeImpulses(this.info, this.massMatrix, this.relVels, this.impulses, this.dImpulses, oimo.common.Setting.positionSplitImpulseBaumgarte, false)) {
            var _g310 = 0;

            while (_g310 < numRows) {
              var _j8 = _g310++;

              this.info.rows[_j8].impulse.impulseP += this.dImpulses[_j8];
            }

            var impulses = this.dImpulses;
            var linearSet = false;
            var angularSet = false;

            var _lv1X2 = void 0;

            var _lv1Y2 = void 0;

            var _lv1Z2 = void 0;

            var _lv2X2 = void 0;

            var _lv2Y2 = void 0;

            var _lv2Z2 = void 0;

            var _av1X2 = void 0;

            var _av1Y2 = void 0;

            var _av1Z2 = void 0;

            var _av2X2 = void 0;

            var _av2Y2 = void 0;

            var _av2Z2 = void 0;

            _lv1X2 = this._b1._pseudoVelX;
            _lv1Y2 = this._b1._pseudoVelY;
            _lv1Z2 = this._b1._pseudoVelZ;
            _lv2X2 = this._b2._pseudoVelX;
            _lv2Y2 = this._b2._pseudoVelY;
            _lv2Z2 = this._b2._pseudoVelZ;
            _av1X2 = this._b1._angPseudoVelX;
            _av1Y2 = this._b1._angPseudoVelY;
            _av1Z2 = this._b1._angPseudoVelZ;
            _av2X2 = this._b2._angPseudoVelX;
            _av2Y2 = this._b2._angPseudoVelY;
            _av2Z2 = this._b2._angPseudoVelZ;
            var _g311 = 0;
            var _g312 = this.info.numRows;

            while (_g311 < _g312) {
              var _i146 = _g311++;

              var _j9 = this.info.rows[_i146].jacobian;
              var md = this.massData[_i146];
              var imp = impulses[_i146];

              if ((_j9.flag & 1) != 0) {
                _lv1X2 += md.invMLin1X * imp;
                _lv1Y2 += md.invMLin1Y * imp;
                _lv1Z2 += md.invMLin1Z * imp;
                _lv2X2 += md.invMLin2X * -imp;
                _lv2Y2 += md.invMLin2Y * -imp;
                _lv2Z2 += md.invMLin2Z * -imp;
                linearSet = true;
              }

              if ((_j9.flag & 2) != 0) {
                _av1X2 += md.invMAng1X * imp;
                _av1Y2 += md.invMAng1Y * imp;
                _av1Z2 += md.invMAng1Z * imp;
                _av2X2 += md.invMAng2X * -imp;
                _av2Y2 += md.invMAng2Y * -imp;
                _av2Z2 += md.invMAng2Z * -imp;
                angularSet = true;
              }
            }

            if (linearSet) {
              this._b1._pseudoVelX = _lv1X2;
              this._b1._pseudoVelY = _lv1Y2;
              this._b1._pseudoVelZ = _lv1Z2;
              this._b2._pseudoVelX = _lv2X2;
              this._b2._pseudoVelY = _lv2Y2;
              this._b2._pseudoVelZ = _lv2Z2;
            }

            if (angularSet) {
              this._b1._angPseudoVelX = _av1X2;
              this._b1._angPseudoVelY = _av1Y2;
              this._b1._angPseudoVelZ = _av1Z2;
              this._b2._angPseudoVelX = _av2X2;
              this._b2._angPseudoVelY = _av2Y2;
              this._b2._angPseudoVelZ = _av2Z2;
            }

            var _this = this.posBoundarySelector;
            var _i145 = 0;

            while (_this.indices[_i145] != idx) {
              ++_i145;
            }

            while (_i145 > 0) {
              var tmp = _this.indices[_i145];
              _this.indices[_i145] = _this.indices[_i145 - 1];
              _this.indices[_i145 - 1] = tmp;
              --_i145;
            }

            solved = true;
            break;
          }
        }

        if (!solved) {
          console.log("src/oimo/dynamics/constraint/solver/direct/DirectJointConstraintSolver.hx:450:", "could not find solution. (split impulse)");
          return;
        }
      }
    }, {
      key: "solvePositionNgs",
      value: function solvePositionNgs(timeStep) {
        this.joint._syncAnchors();

        this.joint._getPositionSolverInfo(this.info);

        this._b1 = this.info.b1;
        this._b2 = this.info.b2;
        this.massMatrix.computeInvMass(this.info, this.massData);
        var _this = this.boundaryBuilder;
        _this.numBoundaries = 0;
        var _this1 = _this.bbInfo;
        _this1.numBounded = 0;
        _this1.numUnbounded = 0;

        _this.buildBoundariesRecursive(this.info, 0);

        var _this2 = this.posBoundarySelector;
        var size = this.boundaryBuilder.numBoundaries;
        var numSmaller = 0;
        var numGreater = 0;
        var _g = 0;
        var _g1 = _this2.n;

        while (_g < _g1) {
          var idx = _this2.indices[_g++];

          if (idx < size) {
            _this2.tmpIndices[numSmaller] = idx;
            ++numSmaller;
          } else {
            _this2.tmpIndices[size + numGreater] = idx;
            ++numGreater;
          }
        }

        var tmp = _this2.indices;
        _this2.indices = _this2.tmpIndices;
        _this2.tmpIndices = tmp;
        var numRows = this.info.numRows;
        var _g2 = 0;

        while (_g2 < numRows) {
          var i = _g2++;
          var imp = this.info.rows[i].impulse;
          this.relVels[i] = 0;
          this.impulses[i] = imp.impulseP;
        }

        var solved = false;
        var _g3 = 0;
        var _g4 = this.boundaryBuilder.numBoundaries;

        while (_g3 < _g4) {
          var _idx4 = this.posBoundarySelector.indices[_g3++];

          if (this.boundaryBuilder.boundaries[_idx4].computeImpulses(this.info, this.massMatrix, this.relVels, this.impulses, this.dImpulses, oimo.common.Setting.positionNgsBaumgarte, false)) {
            var _g313 = 0;

            while (_g313 < numRows) {
              var j = _g313++;
              this.info.rows[j].impulse.impulseP += this.dImpulses[j];
            }

            var impulses = this.dImpulses;
            var linearSet = false;
            var angularSet = false;
            var lv1X = void 0;
            var lv1Y = void 0;
            var lv1Z = void 0;
            var lv2X = void 0;
            var lv2Y = void 0;
            var lv2Z = void 0;
            var av1X = void 0;
            var av1Y = void 0;
            var av1Z = void 0;
            var av2X = void 0;
            var av2Y = void 0;
            var av2Z = void 0;
            lv1X = 0;
            lv1Y = 0;
            lv1Z = 0;
            lv2X = 0;
            lv2Y = 0;
            lv2Z = 0;
            av1X = 0;
            av1Y = 0;
            av1Z = 0;
            av2X = 0;
            av2Y = 0;
            av2Z = 0;
            var _g314 = 0;
            var _g315 = this.info.numRows;

            while (_g314 < _g315) {
              var _i148 = _g314++;

              var _j10 = this.info.rows[_i148].jacobian;
              var md = this.massData[_i148];
              var _imp3 = impulses[_i148];

              if ((_j10.flag & 1) != 0) {
                lv1X += md.invMLin1X * _imp3;
                lv1Y += md.invMLin1Y * _imp3;
                lv1Z += md.invMLin1Z * _imp3;
                lv2X += md.invMLin2X * -_imp3;
                lv2Y += md.invMLin2Y * -_imp3;
                lv2Z += md.invMLin2Z * -_imp3;
                linearSet = true;
              }

              if ((_j10.flag & 2) != 0) {
                av1X += md.invMAng1X * _imp3;
                av1Y += md.invMAng1Y * _imp3;
                av1Z += md.invMAng1Z * _imp3;
                av2X += md.invMAng2X * -_imp3;
                av2Y += md.invMAng2Y * -_imp3;
                av2Z += md.invMAng2Z * -_imp3;
                angularSet = true;
              }
            }

            if (linearSet) {
              var _this249 = this._b1;
              _this249._transform._positionX += lv1X;
              _this249._transform._positionY += lv1Y;
              _this249._transform._positionZ += lv1Z;
              var _this250 = this._b2;
              _this250._transform._positionX += lv2X;
              _this250._transform._positionY += lv2Y;
              _this250._transform._positionZ += lv2Z;
            }

            if (angularSet) {
              var _this251 = this._b1;
              var theta = Math.sqrt(av1X * av1X + av1Y * av1Y + av1Z * av1Z);
              var halfTheta = theta * 0.5;
              var rotationToSinAxisFactor = void 0;
              var cosHalfTheta = void 0;

              if (halfTheta < 0.5) {
                var ht2 = halfTheta * halfTheta;
                rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
                cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
              } else {
                rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
                cosHalfTheta = Math.cos(halfTheta);
              }

              var sinAxisX = void 0;
              var sinAxisY = void 0;
              var sinAxisZ = void 0;
              sinAxisX = av1X * rotationToSinAxisFactor;
              sinAxisY = av1Y * rotationToSinAxisFactor;
              sinAxisZ = av1Z * rotationToSinAxisFactor;
              var dqX = void 0;
              var dqY = void 0;
              var dqZ = void 0;
              var dqW = void 0;
              dqX = sinAxisX;
              dqY = sinAxisY;
              dqZ = sinAxisZ;
              dqW = cosHalfTheta;
              var qX = void 0;
              var qY = void 0;
              var qZ = void 0;
              var qW = void 0;
              var e00 = _this251._transform._rotation00;
              var e11 = _this251._transform._rotation11;
              var e22 = _this251._transform._rotation22;
              var t = e00 + e11 + e22;
              var s = void 0;

              if (t > 0) {
                s = Math.sqrt(t + 1);
                qW = 0.5 * s;
                s = 0.5 / s;
                qX = (_this251._transform._rotation21 - _this251._transform._rotation12) * s;
                qY = (_this251._transform._rotation02 - _this251._transform._rotation20) * s;
                qZ = (_this251._transform._rotation10 - _this251._transform._rotation01) * s;
              } else if (e00 > e11) {
                if (e00 > e22) {
                  s = Math.sqrt(e00 - e11 - e22 + 1);
                  qX = 0.5 * s;
                  s = 0.5 / s;
                  qY = (_this251._transform._rotation01 + _this251._transform._rotation10) * s;
                  qZ = (_this251._transform._rotation02 + _this251._transform._rotation20) * s;
                  qW = (_this251._transform._rotation21 - _this251._transform._rotation12) * s;
                } else {
                  s = Math.sqrt(e22 - e00 - e11 + 1);
                  qZ = 0.5 * s;
                  s = 0.5 / s;
                  qX = (_this251._transform._rotation02 + _this251._transform._rotation20) * s;
                  qY = (_this251._transform._rotation12 + _this251._transform._rotation21) * s;
                  qW = (_this251._transform._rotation10 - _this251._transform._rotation01) * s;
                }
              } else if (e11 > e22) {
                s = Math.sqrt(e11 - e22 - e00 + 1);
                qY = 0.5 * s;
                s = 0.5 / s;
                qX = (_this251._transform._rotation01 + _this251._transform._rotation10) * s;
                qZ = (_this251._transform._rotation12 + _this251._transform._rotation21) * s;
                qW = (_this251._transform._rotation02 - _this251._transform._rotation20) * s;
              } else {
                s = Math.sqrt(e22 - e00 - e11 + 1);
                qZ = 0.5 * s;
                s = 0.5 / s;
                qX = (_this251._transform._rotation02 + _this251._transform._rotation20) * s;
                qY = (_this251._transform._rotation12 + _this251._transform._rotation21) * s;
                qW = (_this251._transform._rotation10 - _this251._transform._rotation01) * s;
              }

              qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
              qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
              qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
              qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
              var l = qX * qX + qY * qY + qZ * qZ + qW * qW;

              if (l > 1e-32) {
                l = 1 / Math.sqrt(l);
              }

              qX *= l;
              qY *= l;
              qZ *= l;
              qW *= l;
              var x = qX;
              var y = qY;
              var z = qZ;
              var w = qW;
              var x2 = 2 * x;
              var y2 = 2 * y;
              var z2 = 2 * z;
              var xx = x * x2;
              var yy = y * y2;
              var zz = z * z2;
              var xy = x * y2;
              var yz = y * z2;
              var xz = x * z2;
              var wx = w * x2;
              var wy = w * y2;
              var wz = w * z2;
              _this251._transform._rotation00 = 1 - yy - zz;
              _this251._transform._rotation01 = xy - wz;
              _this251._transform._rotation02 = xz + wy;
              _this251._transform._rotation10 = xy + wz;
              _this251._transform._rotation11 = 1 - xx - zz;
              _this251._transform._rotation12 = yz - wx;
              _this251._transform._rotation20 = xz - wy;
              _this251._transform._rotation21 = yz + wx;
              _this251._transform._rotation22 = 1 - xx - yy;

              var __tmp__00 = void 0;

              var __tmp__01 = void 0;

              var __tmp__02 = void 0;

              var __tmp__10 = void 0;

              var __tmp__11 = void 0;

              var __tmp__12 = void 0;

              var __tmp__20 = void 0;

              var __tmp__21 = void 0;

              var __tmp__22 = void 0;

              __tmp__00 = _this251._transform._rotation00 * _this251._invLocalInertia00 + _this251._transform._rotation01 * _this251._invLocalInertia10 + _this251._transform._rotation02 * _this251._invLocalInertia20;
              __tmp__01 = _this251._transform._rotation00 * _this251._invLocalInertia01 + _this251._transform._rotation01 * _this251._invLocalInertia11 + _this251._transform._rotation02 * _this251._invLocalInertia21;
              __tmp__02 = _this251._transform._rotation00 * _this251._invLocalInertia02 + _this251._transform._rotation01 * _this251._invLocalInertia12 + _this251._transform._rotation02 * _this251._invLocalInertia22;
              __tmp__10 = _this251._transform._rotation10 * _this251._invLocalInertia00 + _this251._transform._rotation11 * _this251._invLocalInertia10 + _this251._transform._rotation12 * _this251._invLocalInertia20;
              __tmp__11 = _this251._transform._rotation10 * _this251._invLocalInertia01 + _this251._transform._rotation11 * _this251._invLocalInertia11 + _this251._transform._rotation12 * _this251._invLocalInertia21;
              __tmp__12 = _this251._transform._rotation10 * _this251._invLocalInertia02 + _this251._transform._rotation11 * _this251._invLocalInertia12 + _this251._transform._rotation12 * _this251._invLocalInertia22;
              __tmp__20 = _this251._transform._rotation20 * _this251._invLocalInertia00 + _this251._transform._rotation21 * _this251._invLocalInertia10 + _this251._transform._rotation22 * _this251._invLocalInertia20;
              __tmp__21 = _this251._transform._rotation20 * _this251._invLocalInertia01 + _this251._transform._rotation21 * _this251._invLocalInertia11 + _this251._transform._rotation22 * _this251._invLocalInertia21;
              __tmp__22 = _this251._transform._rotation20 * _this251._invLocalInertia02 + _this251._transform._rotation21 * _this251._invLocalInertia12 + _this251._transform._rotation22 * _this251._invLocalInertia22;
              _this251._invInertia00 = __tmp__00;
              _this251._invInertia01 = __tmp__01;
              _this251._invInertia02 = __tmp__02;
              _this251._invInertia10 = __tmp__10;
              _this251._invInertia11 = __tmp__11;
              _this251._invInertia12 = __tmp__12;
              _this251._invInertia20 = __tmp__20;
              _this251._invInertia21 = __tmp__21;
              _this251._invInertia22 = __tmp__22;

              var __tmp__001 = void 0;

              var __tmp__011 = void 0;

              var __tmp__021 = void 0;

              var __tmp__101 = void 0;

              var __tmp__111 = void 0;

              var __tmp__121 = void 0;

              var __tmp__201 = void 0;

              var __tmp__211 = void 0;

              var __tmp__221 = void 0;

              __tmp__001 = _this251._invInertia00 * _this251._transform._rotation00 + _this251._invInertia01 * _this251._transform._rotation01 + _this251._invInertia02 * _this251._transform._rotation02;
              __tmp__011 = _this251._invInertia00 * _this251._transform._rotation10 + _this251._invInertia01 * _this251._transform._rotation11 + _this251._invInertia02 * _this251._transform._rotation12;
              __tmp__021 = _this251._invInertia00 * _this251._transform._rotation20 + _this251._invInertia01 * _this251._transform._rotation21 + _this251._invInertia02 * _this251._transform._rotation22;
              __tmp__101 = _this251._invInertia10 * _this251._transform._rotation00 + _this251._invInertia11 * _this251._transform._rotation01 + _this251._invInertia12 * _this251._transform._rotation02;
              __tmp__111 = _this251._invInertia10 * _this251._transform._rotation10 + _this251._invInertia11 * _this251._transform._rotation11 + _this251._invInertia12 * _this251._transform._rotation12;
              __tmp__121 = _this251._invInertia10 * _this251._transform._rotation20 + _this251._invInertia11 * _this251._transform._rotation21 + _this251._invInertia12 * _this251._transform._rotation22;
              __tmp__201 = _this251._invInertia20 * _this251._transform._rotation00 + _this251._invInertia21 * _this251._transform._rotation01 + _this251._invInertia22 * _this251._transform._rotation02;
              __tmp__211 = _this251._invInertia20 * _this251._transform._rotation10 + _this251._invInertia21 * _this251._transform._rotation11 + _this251._invInertia22 * _this251._transform._rotation12;
              __tmp__221 = _this251._invInertia20 * _this251._transform._rotation20 + _this251._invInertia21 * _this251._transform._rotation21 + _this251._invInertia22 * _this251._transform._rotation22;
              _this251._invInertia00 = __tmp__001;
              _this251._invInertia01 = __tmp__011;
              _this251._invInertia02 = __tmp__021;
              _this251._invInertia10 = __tmp__101;
              _this251._invInertia11 = __tmp__111;
              _this251._invInertia12 = __tmp__121;
              _this251._invInertia20 = __tmp__201;
              _this251._invInertia21 = __tmp__211;
              _this251._invInertia22 = __tmp__221;
              _this251._invInertia00 *= _this251._rotFactor.x;
              _this251._invInertia01 *= _this251._rotFactor.x;
              _this251._invInertia02 *= _this251._rotFactor.x;
              _this251._invInertia10 *= _this251._rotFactor.y;
              _this251._invInertia11 *= _this251._rotFactor.y;
              _this251._invInertia12 *= _this251._rotFactor.y;
              _this251._invInertia20 *= _this251._rotFactor.z;
              _this251._invInertia21 *= _this251._rotFactor.z;
              _this251._invInertia22 *= _this251._rotFactor.z;
              var _this252 = this._b2;
              var theta1 = Math.sqrt(av2X * av2X + av2Y * av2Y + av2Z * av2Z);
              var halfTheta1 = theta1 * 0.5;
              var rotationToSinAxisFactor1 = void 0;
              var cosHalfTheta1 = void 0;

              if (halfTheta1 < 0.5) {
                var _ht = halfTheta1 * halfTheta1;

                rotationToSinAxisFactor1 = 0.5 * (1 - _ht * 0.16666666666666666 + _ht * _ht * 0.0083333333333333332);
                cosHalfTheta1 = 1 - _ht * 0.5 + _ht * _ht * 0.041666666666666664;
              } else {
                rotationToSinAxisFactor1 = Math.sin(halfTheta1) / theta1;
                cosHalfTheta1 = Math.cos(halfTheta1);
              }

              var sinAxisX1 = void 0;
              var sinAxisY1 = void 0;
              var sinAxisZ1 = void 0;
              sinAxisX1 = av2X * rotationToSinAxisFactor1;
              sinAxisY1 = av2Y * rotationToSinAxisFactor1;
              sinAxisZ1 = av2Z * rotationToSinAxisFactor1;
              var dqX1 = void 0;
              var dqY1 = void 0;
              var dqZ1 = void 0;
              var dqW1 = void 0;
              dqX1 = sinAxisX1;
              dqY1 = sinAxisY1;
              dqZ1 = sinAxisZ1;
              dqW1 = cosHalfTheta1;
              var qX1 = void 0;
              var qY1 = void 0;
              var qZ1 = void 0;
              var qW1 = void 0;
              var e001 = _this252._transform._rotation00;
              var e111 = _this252._transform._rotation11;
              var e221 = _this252._transform._rotation22;
              var t1 = e001 + e111 + e221;
              var s1 = void 0;

              if (t1 > 0) {
                s1 = Math.sqrt(t1 + 1);
                qW1 = 0.5 * s1;
                s1 = 0.5 / s1;
                qX1 = (_this252._transform._rotation21 - _this252._transform._rotation12) * s1;
                qY1 = (_this252._transform._rotation02 - _this252._transform._rotation20) * s1;
                qZ1 = (_this252._transform._rotation10 - _this252._transform._rotation01) * s1;
              } else if (e001 > e111) {
                if (e001 > e221) {
                  s1 = Math.sqrt(e001 - e111 - e221 + 1);
                  qX1 = 0.5 * s1;
                  s1 = 0.5 / s1;
                  qY1 = (_this252._transform._rotation01 + _this252._transform._rotation10) * s1;
                  qZ1 = (_this252._transform._rotation02 + _this252._transform._rotation20) * s1;
                  qW1 = (_this252._transform._rotation21 - _this252._transform._rotation12) * s1;
                } else {
                  s1 = Math.sqrt(e221 - e001 - e111 + 1);
                  qZ1 = 0.5 * s1;
                  s1 = 0.5 / s1;
                  qX1 = (_this252._transform._rotation02 + _this252._transform._rotation20) * s1;
                  qY1 = (_this252._transform._rotation12 + _this252._transform._rotation21) * s1;
                  qW1 = (_this252._transform._rotation10 - _this252._transform._rotation01) * s1;
                }
              } else if (e111 > e221) {
                s1 = Math.sqrt(e111 - e221 - e001 + 1);
                qY1 = 0.5 * s1;
                s1 = 0.5 / s1;
                qX1 = (_this252._transform._rotation01 + _this252._transform._rotation10) * s1;
                qZ1 = (_this252._transform._rotation12 + _this252._transform._rotation21) * s1;
                qW1 = (_this252._transform._rotation02 - _this252._transform._rotation20) * s1;
              } else {
                s1 = Math.sqrt(e221 - e001 - e111 + 1);
                qZ1 = 0.5 * s1;
                s1 = 0.5 / s1;
                qX1 = (_this252._transform._rotation02 + _this252._transform._rotation20) * s1;
                qY1 = (_this252._transform._rotation12 + _this252._transform._rotation21) * s1;
                qW1 = (_this252._transform._rotation10 - _this252._transform._rotation01) * s1;
              }

              qX1 = dqW1 * qX1 + dqX1 * qW1 + dqY1 * qZ1 - dqZ1 * qY1;
              qY1 = dqW1 * qY1 - dqX1 * qZ1 + dqY1 * qW1 + dqZ1 * qX1;
              qZ1 = dqW1 * qZ1 + dqX1 * qY1 - dqY1 * qX1 + dqZ1 * qW1;
              qW1 = dqW1 * qW1 - dqX1 * qX1 - dqY1 * qY1 - dqZ1 * qZ1;
              var l1 = qX1 * qX1 + qY1 * qY1 + qZ1 * qZ1 + qW1 * qW1;

              if (l1 > 1e-32) {
                l1 = 1 / Math.sqrt(l1);
              }

              qX1 *= l1;
              qY1 *= l1;
              qZ1 *= l1;
              qW1 *= l1;
              var x1 = qX1;
              var y1 = qY1;
              var z1 = qZ1;
              var w1 = qW1;
              var x21 = 2 * x1;
              var y21 = 2 * y1;
              var z21 = 2 * z1;
              var xx1 = x1 * x21;
              var yy1 = y1 * y21;
              var zz1 = z1 * z21;
              var xy1 = x1 * y21;
              var yz1 = y1 * z21;
              var xz1 = x1 * z21;
              var wx1 = w1 * x21;
              var wy1 = w1 * y21;
              var wz1 = w1 * z21;
              _this252._transform._rotation00 = 1 - yy1 - zz1;
              _this252._transform._rotation01 = xy1 - wz1;
              _this252._transform._rotation02 = xz1 + wy1;
              _this252._transform._rotation10 = xy1 + wz1;
              _this252._transform._rotation11 = 1 - xx1 - zz1;
              _this252._transform._rotation12 = yz1 - wx1;
              _this252._transform._rotation20 = xz1 - wy1;
              _this252._transform._rotation21 = yz1 + wx1;
              _this252._transform._rotation22 = 1 - xx1 - yy1;

              var __tmp__002 = void 0;

              var __tmp__012 = void 0;

              var __tmp__022 = void 0;

              var __tmp__102 = void 0;

              var __tmp__112 = void 0;

              var __tmp__122 = void 0;

              var __tmp__202 = void 0;

              var __tmp__212 = void 0;

              var __tmp__222 = void 0;

              __tmp__002 = _this252._transform._rotation00 * _this252._invLocalInertia00 + _this252._transform._rotation01 * _this252._invLocalInertia10 + _this252._transform._rotation02 * _this252._invLocalInertia20;
              __tmp__012 = _this252._transform._rotation00 * _this252._invLocalInertia01 + _this252._transform._rotation01 * _this252._invLocalInertia11 + _this252._transform._rotation02 * _this252._invLocalInertia21;
              __tmp__022 = _this252._transform._rotation00 * _this252._invLocalInertia02 + _this252._transform._rotation01 * _this252._invLocalInertia12 + _this252._transform._rotation02 * _this252._invLocalInertia22;
              __tmp__102 = _this252._transform._rotation10 * _this252._invLocalInertia00 + _this252._transform._rotation11 * _this252._invLocalInertia10 + _this252._transform._rotation12 * _this252._invLocalInertia20;
              __tmp__112 = _this252._transform._rotation10 * _this252._invLocalInertia01 + _this252._transform._rotation11 * _this252._invLocalInertia11 + _this252._transform._rotation12 * _this252._invLocalInertia21;
              __tmp__122 = _this252._transform._rotation10 * _this252._invLocalInertia02 + _this252._transform._rotation11 * _this252._invLocalInertia12 + _this252._transform._rotation12 * _this252._invLocalInertia22;
              __tmp__202 = _this252._transform._rotation20 * _this252._invLocalInertia00 + _this252._transform._rotation21 * _this252._invLocalInertia10 + _this252._transform._rotation22 * _this252._invLocalInertia20;
              __tmp__212 = _this252._transform._rotation20 * _this252._invLocalInertia01 + _this252._transform._rotation21 * _this252._invLocalInertia11 + _this252._transform._rotation22 * _this252._invLocalInertia21;
              __tmp__222 = _this252._transform._rotation20 * _this252._invLocalInertia02 + _this252._transform._rotation21 * _this252._invLocalInertia12 + _this252._transform._rotation22 * _this252._invLocalInertia22;
              _this252._invInertia00 = __tmp__002;
              _this252._invInertia01 = __tmp__012;
              _this252._invInertia02 = __tmp__022;
              _this252._invInertia10 = __tmp__102;
              _this252._invInertia11 = __tmp__112;
              _this252._invInertia12 = __tmp__122;
              _this252._invInertia20 = __tmp__202;
              _this252._invInertia21 = __tmp__212;
              _this252._invInertia22 = __tmp__222;

              var __tmp__003 = void 0;

              var __tmp__013 = void 0;

              var __tmp__023 = void 0;

              var __tmp__103 = void 0;

              var __tmp__113 = void 0;

              var __tmp__123 = void 0;

              var __tmp__203 = void 0;

              var __tmp__213 = void 0;

              var __tmp__223 = void 0;

              __tmp__003 = _this252._invInertia00 * _this252._transform._rotation00 + _this252._invInertia01 * _this252._transform._rotation01 + _this252._invInertia02 * _this252._transform._rotation02;
              __tmp__013 = _this252._invInertia00 * _this252._transform._rotation10 + _this252._invInertia01 * _this252._transform._rotation11 + _this252._invInertia02 * _this252._transform._rotation12;
              __tmp__023 = _this252._invInertia00 * _this252._transform._rotation20 + _this252._invInertia01 * _this252._transform._rotation21 + _this252._invInertia02 * _this252._transform._rotation22;
              __tmp__103 = _this252._invInertia10 * _this252._transform._rotation00 + _this252._invInertia11 * _this252._transform._rotation01 + _this252._invInertia12 * _this252._transform._rotation02;
              __tmp__113 = _this252._invInertia10 * _this252._transform._rotation10 + _this252._invInertia11 * _this252._transform._rotation11 + _this252._invInertia12 * _this252._transform._rotation12;
              __tmp__123 = _this252._invInertia10 * _this252._transform._rotation20 + _this252._invInertia11 * _this252._transform._rotation21 + _this252._invInertia12 * _this252._transform._rotation22;
              __tmp__203 = _this252._invInertia20 * _this252._transform._rotation00 + _this252._invInertia21 * _this252._transform._rotation01 + _this252._invInertia22 * _this252._transform._rotation02;
              __tmp__213 = _this252._invInertia20 * _this252._transform._rotation10 + _this252._invInertia21 * _this252._transform._rotation11 + _this252._invInertia22 * _this252._transform._rotation12;
              __tmp__223 = _this252._invInertia20 * _this252._transform._rotation20 + _this252._invInertia21 * _this252._transform._rotation21 + _this252._invInertia22 * _this252._transform._rotation22;
              _this252._invInertia00 = __tmp__003;
              _this252._invInertia01 = __tmp__013;
              _this252._invInertia02 = __tmp__023;
              _this252._invInertia10 = __tmp__103;
              _this252._invInertia11 = __tmp__113;
              _this252._invInertia12 = __tmp__123;
              _this252._invInertia20 = __tmp__203;
              _this252._invInertia21 = __tmp__213;
              _this252._invInertia22 = __tmp__223;
              _this252._invInertia00 *= _this252._rotFactor.x;
              _this252._invInertia01 *= _this252._rotFactor.x;
              _this252._invInertia02 *= _this252._rotFactor.x;
              _this252._invInertia10 *= _this252._rotFactor.y;
              _this252._invInertia11 *= _this252._rotFactor.y;
              _this252._invInertia12 *= _this252._rotFactor.y;
              _this252._invInertia20 *= _this252._rotFactor.z;
              _this252._invInertia21 *= _this252._rotFactor.z;
              _this252._invInertia22 *= _this252._rotFactor.z;
            }

            var _this248 = this.posBoundarySelector;
            var _i147 = 0;

            while (_this248.indices[_i147] != _idx4) {
              ++_i147;
            }

            while (_i147 > 0) {
              var _tmp6 = _this248.indices[_i147];
              _this248.indices[_i147] = _this248.indices[_i147 - 1];
              _this248.indices[_i147 - 1] = _tmp6;
              --_i147;
            }

            solved = true;
            break;
          }
        }

        if (!solved) {
          console.log("src/oimo/dynamics/constraint/solver/direct/DirectJointConstraintSolver.hx:502:", "could not find solution. (NGS)");
          return;
        }
      }
    }, {
      key: "postSolve",
      value: function postSolve() {
        this.joint._syncAnchors();

        this.joint._checkDestruction();
      }
    }]);

    return oimo_dynamics_constraint_solver_direct_DirectJointConstraintSolver;
  }(oimo.dynamics.constraint.ConstraintSolver);

  oimo.dynamics.constraint.solver.direct.MassMatrix = /*#__PURE__*/function () {
    function oimo_dynamics_constraint_solver_direct_MassMatrix(size) {
      _classCallCheck(this, oimo_dynamics_constraint_solver_direct_MassMatrix);

      this._size = size;
      this.tmpMatrix = new Array(this._size);
      this._invMass = new Array(this._size);
      this._invMassWithoutCfm = new Array(this._size);
      var _g = 0;
      var _g1 = this._size;

      while (_g < _g1) {
        var i = _g++;
        this.tmpMatrix[i] = new Array(this._size);
        this._invMass[i] = new Array(this._size);
        this._invMassWithoutCfm[i] = new Array(this._size);
        var _g316 = 0;
        var _g317 = this._size;

        while (_g316 < _g317) {
          var j = _g316++;
          this.tmpMatrix[i][j] = 0;
          this._invMass[i][j] = 0;
          this._invMassWithoutCfm[i][j] = 0;
        }
      }

      this._maxSubmatrixId = 1 << this._size;
      this._cacheComputed = new Array(this._maxSubmatrixId);
      this._cachedSubmatrices = new Array(this._maxSubmatrixId);
      var _g2 = 0;
      var _g3 = this._maxSubmatrixId;

      while (_g2 < _g3) {
        var _i149 = _g2++;

        var t = void 0;
        t = (_i149 & 85) + (_i149 >> 1 & 85);
        t = (t & 51) + (t >> 2 & 51);
        t = (t & 15) + (t >> 4 & 15);
        var matrixSize = t;
        var subMatrix = new Array(matrixSize);
        var _g318 = 0;

        while (_g318 < matrixSize) {
          var _j11 = _g318++;

          subMatrix[_j11] = new Array(matrixSize);
          var _g319 = 0;

          while (_g319 < matrixSize) {
            subMatrix[_j11][_g319++] = 0;
          }
        }

        this._cacheComputed[_i149] = false;
        this._cachedSubmatrices[_i149] = subMatrix;
      }
    }

    _createClass(oimo_dynamics_constraint_solver_direct_MassMatrix, [{
      key: "computeSubmatrix",
      value: function computeSubmatrix(id, indices, size) {
        var _g = 0;

        while (_g < size) {
          var i = _g++;
          var ii = indices[i];
          var _g1 = 0;

          while (_g1 < size) {
            var j = _g1++;
            this.tmpMatrix[i][j] = this._invMass[ii][indices[j]];
          }
        }

        var src = this.tmpMatrix;
        var dst = this._cachedSubmatrices[id];
        var srci;
        var dsti;
        var srcj;
        var dstj;
        var diag;

        switch (size) {
          case 4:
            srci = src[0];
            dsti = dst[0];
            diag = 1 / srci[0];
            dsti[0] = diag;
            srci[1] *= diag;
            srci[2] *= diag;
            srci[3] *= diag;
            srcj = src[1];
            dstj = dst[1];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srci = src[1];
            dsti = dst[1];
            diag = 1 / srci[1];
            dsti[1] = diag;
            dsti[0] *= diag;
            srci[2] *= diag;
            srci[3] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srci = src[2];
            dsti = dst[2];
            diag = 1 / srci[2];
            dsti[2] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            srci[3] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            dstj[2] = -diag * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srci = src[3];
            dsti = dst[3];
            diag = 1 / srci[3];
            dsti[3] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            dsti[2] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[3];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            dstj[2] -= dsti[2] * srcj[3];
            dsti = dst[1];
            dst[0][1] = dsti[0];
            dsti = dst[2];
            dst[0][2] = dsti[0];
            dst[1][2] = dsti[1];
            dsti = dst[3];
            dst[0][3] = dsti[0];
            dst[1][3] = dsti[1];
            dst[2][3] = dsti[2];
            break;

          case 5:
            srci = src[0];
            dsti = dst[0];
            diag = 1 / srci[0];
            dsti[0] = diag;
            srci[1] *= diag;
            srci[2] *= diag;
            srci[3] *= diag;
            srci[4] *= diag;
            srcj = src[1];
            dstj = dst[1];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srci = src[1];
            dsti = dst[1];
            diag = 1 / srci[1];
            dsti[1] = diag;
            dsti[0] *= diag;
            srci[2] *= diag;
            srci[3] *= diag;
            srci[4] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srci = src[2];
            dsti = dst[2];
            diag = 1 / srci[2];
            dsti[2] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            srci[3] *= diag;
            srci[4] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            dstj[2] = -diag * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            dstj[2] = -diag * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srci = src[3];
            dsti = dst[3];
            diag = 1 / srci[3];
            dsti[3] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            dsti[2] *= diag;
            srci[4] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            dstj[2] -= dsti[2] * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            dstj[2] -= dsti[2] * srcj[3];
            dstj[3] = -diag * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srci = src[4];
            dsti = dst[4];
            diag = 1 / srci[4];
            dsti[4] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            dsti[2] *= diag;
            dsti[3] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[4];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[4];
            dstj[1] -= dsti[1] * srcj[4];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[4];
            dstj[1] -= dsti[1] * srcj[4];
            dstj[2] -= dsti[2] * srcj[4];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[4];
            dstj[1] -= dsti[1] * srcj[4];
            dstj[2] -= dsti[2] * srcj[4];
            dstj[3] -= dsti[3] * srcj[4];
            dsti = dst[1];
            dst[0][1] = dsti[0];
            dsti = dst[2];
            dst[0][2] = dsti[0];
            dst[1][2] = dsti[1];
            dsti = dst[3];
            dst[0][3] = dsti[0];
            dst[1][3] = dsti[1];
            dst[2][3] = dsti[2];
            dsti = dst[4];
            dst[0][4] = dsti[0];
            dst[1][4] = dsti[1];
            dst[2][4] = dsti[2];
            dst[3][4] = dsti[3];
            break;

          case 6:
            srci = src[0];
            dsti = dst[0];
            diag = 1 / srci[0];
            dsti[0] = diag;
            srci[1] *= diag;
            srci[2] *= diag;
            srci[3] *= diag;
            srci[4] *= diag;
            srci[5] *= diag;
            srcj = src[1];
            dstj = dst[1];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj[5] -= srci[5] * srcj[0];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj[5] -= srci[5] * srcj[0];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj[5] -= srci[5] * srcj[0];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj[5] -= srci[5] * srcj[0];
            srcj = src[5];
            dstj = dst[5];
            dstj[0] = -diag * srcj[0];
            srcj[1] -= srci[1] * srcj[0];
            srcj[2] -= srci[2] * srcj[0];
            srcj[3] -= srci[3] * srcj[0];
            srcj[4] -= srci[4] * srcj[0];
            srcj[5] -= srci[5] * srcj[0];
            srci = src[1];
            dsti = dst[1];
            diag = 1 / srci[1];
            dsti[1] = diag;
            dsti[0] *= diag;
            srci[2] *= diag;
            srci[3] *= diag;
            srci[4] *= diag;
            srci[5] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj[5] -= srci[5] * srcj[1];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj[5] -= srci[5] * srcj[1];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj[5] -= srci[5] * srcj[1];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj[5] -= srci[5] * srcj[1];
            srcj = src[5];
            dstj = dst[5];
            dstj[0] -= dsti[0] * srcj[1];
            dstj[1] = -diag * srcj[1];
            srcj[2] -= srci[2] * srcj[1];
            srcj[3] -= srci[3] * srcj[1];
            srcj[4] -= srci[4] * srcj[1];
            srcj[5] -= srci[5] * srcj[1];
            srci = src[2];
            dsti = dst[2];
            diag = 1 / srci[2];
            dsti[2] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            srci[3] *= diag;
            srci[4] *= diag;
            srci[5] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj[5] -= srci[5] * srcj[2];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj[5] -= srci[5] * srcj[2];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            dstj[2] = -diag * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj[5] -= srci[5] * srcj[2];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            dstj[2] = -diag * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj[5] -= srci[5] * srcj[2];
            srcj = src[5];
            dstj = dst[5];
            dstj[0] -= dsti[0] * srcj[2];
            dstj[1] -= dsti[1] * srcj[2];
            dstj[2] = -diag * srcj[2];
            srcj[3] -= srci[3] * srcj[2];
            srcj[4] -= srci[4] * srcj[2];
            srcj[5] -= srci[5] * srcj[2];
            srci = src[3];
            dsti = dst[3];
            diag = 1 / srci[3];
            dsti[3] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            dsti[2] *= diag;
            srci[4] *= diag;
            srci[5] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj[5] -= srci[5] * srcj[3];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj[5] -= srci[5] * srcj[3];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            dstj[2] -= dsti[2] * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj[5] -= srci[5] * srcj[3];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            dstj[2] -= dsti[2] * srcj[3];
            dstj[3] = -diag * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj[5] -= srci[5] * srcj[3];
            srcj = src[5];
            dstj = dst[5];
            dstj[0] -= dsti[0] * srcj[3];
            dstj[1] -= dsti[1] * srcj[3];
            dstj[2] -= dsti[2] * srcj[3];
            dstj[3] = -diag * srcj[3];
            srcj[4] -= srci[4] * srcj[3];
            srcj[5] -= srci[5] * srcj[3];
            srci = src[4];
            dsti = dst[4];
            diag = 1 / srci[4];
            dsti[4] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            dsti[2] *= diag;
            dsti[3] *= diag;
            srci[5] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[4];
            srcj[5] -= srci[5] * srcj[4];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[4];
            dstj[1] -= dsti[1] * srcj[4];
            srcj[5] -= srci[5] * srcj[4];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[4];
            dstj[1] -= dsti[1] * srcj[4];
            dstj[2] -= dsti[2] * srcj[4];
            srcj[5] -= srci[5] * srcj[4];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[4];
            dstj[1] -= dsti[1] * srcj[4];
            dstj[2] -= dsti[2] * srcj[4];
            dstj[3] -= dsti[3] * srcj[4];
            srcj[5] -= srci[5] * srcj[4];
            srcj = src[5];
            dstj = dst[5];
            dstj[0] -= dsti[0] * srcj[4];
            dstj[1] -= dsti[1] * srcj[4];
            dstj[2] -= dsti[2] * srcj[4];
            dstj[3] -= dsti[3] * srcj[4];
            dstj[4] = -diag * srcj[4];
            srcj[5] -= srci[5] * srcj[4];
            srci = src[5];
            dsti = dst[5];
            diag = 1 / srci[5];
            dsti[5] = diag;
            dsti[0] *= diag;
            dsti[1] *= diag;
            dsti[2] *= diag;
            dsti[3] *= diag;
            dsti[4] *= diag;
            srcj = src[0];
            dstj = dst[0];
            dstj[0] -= dsti[0] * srcj[5];
            srcj = src[1];
            dstj = dst[1];
            dstj[0] -= dsti[0] * srcj[5];
            dstj[1] -= dsti[1] * srcj[5];
            srcj = src[2];
            dstj = dst[2];
            dstj[0] -= dsti[0] * srcj[5];
            dstj[1] -= dsti[1] * srcj[5];
            dstj[2] -= dsti[2] * srcj[5];
            srcj = src[3];
            dstj = dst[3];
            dstj[0] -= dsti[0] * srcj[5];
            dstj[1] -= dsti[1] * srcj[5];
            dstj[2] -= dsti[2] * srcj[5];
            dstj[3] -= dsti[3] * srcj[5];
            srcj = src[4];
            dstj = dst[4];
            dstj[0] -= dsti[0] * srcj[5];
            dstj[1] -= dsti[1] * srcj[5];
            dstj[2] -= dsti[2] * srcj[5];
            dstj[3] -= dsti[3] * srcj[5];
            dstj[4] -= dsti[4] * srcj[5];
            dsti = dst[1];
            dst[0][1] = dsti[0];
            dsti = dst[2];
            dst[0][2] = dsti[0];
            dst[1][2] = dsti[1];
            dsti = dst[3];
            dst[0][3] = dsti[0];
            dst[1][3] = dsti[1];
            dst[2][3] = dsti[2];
            dsti = dst[4];
            dst[0][4] = dsti[0];
            dst[1][4] = dsti[1];
            dst[2][4] = dsti[2];
            dst[3][4] = dsti[3];
            dsti = dst[5];
            dst[0][5] = dsti[0];
            dst[1][5] = dsti[1];
            dst[2][5] = dsti[2];
            dst[3][5] = dsti[3];
            dst[4][5] = dsti[4];
            break;

          default:
            var _g320 = 0;

            while (_g320 < size) {
              var _i150 = _g320++;

              srci = src[_i150];
              dsti = dst[_i150];

              var _diag = 1 / srci[_i150];

              dsti[_i150] = _diag;
              var _g321 = 0;

              while (_g321 < _i150) {
                dsti[_g321++] *= _diag;
              }

              var _g322 = _i150 + 1;

              while (_g322 < size) {
                srci[_g322++] *= _diag;
              }

              var _g3 = 0;

              while (_g3 < _i150) {
                var _j12 = _g3++;

                srcj = src[_j12];
                dstj = dst[_j12];
                var _g323 = 0;

                var _g324 = _j12 + 1;

                while (_g323 < _g324) {
                  var k = _g323++;
                  dstj[k] -= dsti[k] * srcj[_i150];
                }

                var _g325 = _i150 + 1;

                while (_g325 < size) {
                  var _k = _g325++;

                  srcj[_k] -= srci[_k] * srcj[_i150];
                }
              }

              var _g4 = _i150 + 1;

              while (_g4 < size) {
                var _j13 = _g4++;

                srcj = src[_j13];
                dstj = dst[_j13];
                var _g326 = 0;

                while (_g326 < _i150) {
                  var _k2 = _g326++;

                  dstj[_k2] -= dsti[_k2] * srcj[_i150];
                }

                dstj[_i150] = -_diag * srcj[_i150];

                var _g327 = _i150 + 1;

                while (_g327 < size) {
                  var _k3 = _g327++;

                  srcj[_k3] -= srci[_k3] * srcj[_i150];
                }
              }
            }

            var _g2 = 1;

            while (_g2 < size) {
              var _i151 = _g2++;

              dsti = dst[_i151];
              var _g328 = 0;

              while (_g328 < _i151) {
                var _j14 = _g328++;

                dst[_j14][_i151] = dsti[_j14];
              }
            }

        }
      }
    }, {
      key: "computeInvMass",
      value: function computeInvMass(info, massData) {
        var invMass = this._invMass;
        var invMassWithoutCfm = this._invMassWithoutCfm;
        var numRows = info.numRows;
        var b1 = info.b1;
        var b2 = info.b2;
        var invM1 = b1._invMass;
        var invM2 = b2._invMass;
        var invI100;
        var invI101;
        var invI102;
        var invI110;
        var invI111;
        var invI112;
        var invI120;
        var invI121;
        var invI122;
        var invI200;
        var invI201;
        var invI202;
        var invI210;
        var invI211;
        var invI212;
        var invI220;
        var invI221;
        var invI222;
        invI100 = b1._invInertia00;
        invI101 = b1._invInertia01;
        invI102 = b1._invInertia02;
        invI110 = b1._invInertia10;
        invI111 = b1._invInertia11;
        invI112 = b1._invInertia12;
        invI120 = b1._invInertia20;
        invI121 = b1._invInertia21;
        invI122 = b1._invInertia22;
        invI200 = b2._invInertia00;
        invI201 = b2._invInertia01;
        invI202 = b2._invInertia02;
        invI210 = b2._invInertia10;
        invI211 = b2._invInertia11;
        invI212 = b2._invInertia12;
        invI220 = b2._invInertia20;
        invI221 = b2._invInertia21;
        invI222 = b2._invInertia22;
        var _g = 0;

        while (_g < numRows) {
          var i = _g++;
          var j = info.rows[i].jacobian;
          var md = massData[i];
          j.updateSparsity();

          if ((j.flag & 1) != 0) {
            md.invMLin1X = j.lin1X * invM1;
            md.invMLin1Y = j.lin1Y * invM1;
            md.invMLin1Z = j.lin1Z * invM1;
            md.invMLin2X = j.lin2X * invM2;
            md.invMLin2Y = j.lin2Y * invM2;
            md.invMLin2Z = j.lin2Z * invM2;
          } else {
            md.invMLin1X = 0;
            md.invMLin1Y = 0;
            md.invMLin1Z = 0;
            md.invMLin2X = 0;
            md.invMLin2Y = 0;
            md.invMLin2Z = 0;
          }

          if ((j.flag & 2) != 0) {
            var __tmp__X = void 0;

            var __tmp__Y = void 0;

            var __tmp__Z = void 0;

            __tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
            __tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
            __tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
            md.invMAng1X = __tmp__X;
            md.invMAng1Y = __tmp__Y;
            md.invMAng1Z = __tmp__Z;

            var __tmp__X1 = void 0;

            var __tmp__Y1 = void 0;

            var __tmp__Z1 = void 0;

            __tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
            __tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
            __tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
            md.invMAng2X = __tmp__X1;
            md.invMAng2Y = __tmp__Y1;
            md.invMAng2Z = __tmp__Z1;
          } else {
            md.invMAng1X = 0;
            md.invMAng1Y = 0;
            md.invMAng1Z = 0;
            md.invMAng2X = 0;
            md.invMAng2Y = 0;
            md.invMAng2Z = 0;
          }
        }

        var _g1 = 0;

        while (_g1 < numRows) {
          var _i152 = _g1++;

          var j1 = info.rows[_i152].jacobian;
          var _g329 = _i152;

          while (_g329 < numRows) {
            var _j15 = _g329++;

            var md2 = massData[_j15];
            var val = j1.lin1X * md2.invMLin1X + j1.lin1Y * md2.invMLin1Y + j1.lin1Z * md2.invMLin1Z + (j1.ang1X * md2.invMAng1X + j1.ang1Y * md2.invMAng1Y + j1.ang1Z * md2.invMAng1Z) + (j1.lin2X * md2.invMLin2X + j1.lin2Y * md2.invMLin2Y + j1.lin2Z * md2.invMLin2Z) + (j1.ang2X * md2.invMAng2X + j1.ang2Y * md2.invMAng2Y + j1.ang2Z * md2.invMAng2Z);

            if (_i152 == _j15) {
              invMass[_i152][_j15] = val + info.rows[_i152].cfm;
              invMassWithoutCfm[_i152][_j15] = val;
              md2.mass = val + info.rows[_i152].cfm;
              md2.massWithoutCfm = val;

              if (md2.mass != 0) {
                md2.mass = 1 / md2.mass;
              }

              if (md2.massWithoutCfm != 0) {
                md2.massWithoutCfm = 1 / md2.massWithoutCfm;
              }
            } else {
              invMass[_i152][_j15] = val;
              invMass[_j15][_i152] = val;
              invMassWithoutCfm[_i152][_j15] = val;
              invMassWithoutCfm[_j15][_i152] = val;
            }
          }
        }

        var _g2 = 0;
        var _g3 = this._maxSubmatrixId;

        while (_g2 < _g3) {
          this._cacheComputed[_g2++] = false;
        }
      }
    }]);

    return oimo_dynamics_constraint_solver_direct_MassMatrix;
  }();

  if (!oimo.dynamics.constraint.solver.pgs) oimo.dynamics.constraint.solver.pgs = {};

  oimo.dynamics.constraint.solver.pgs.PgsContactConstraintSolver = /*#__PURE__*/function (_oimo$dynamics$constr16) {
    _inherits(oimo_dynamics_constraint_solver_pgs_PgsContactConstraintSolver, _oimo$dynamics$constr16);

    var _super38 = _createSuper(oimo_dynamics_constraint_solver_pgs_PgsContactConstraintSolver);

    function oimo_dynamics_constraint_solver_pgs_PgsContactConstraintSolver(constraint) {
      var _this253;

      _classCallCheck(this, oimo_dynamics_constraint_solver_pgs_PgsContactConstraintSolver);

      _this253 = _super38.call(this);
      _this253.constraint = constraint;
      _this253.info = new oimo.dynamics.constraint.info.contact.ContactSolverInfo();
      _this253.massData = new Array(oimo.common.Setting.maxManifoldPoints);
      var _g = 0;
      var _g1 = _this253.massData.length;

      while (_g < _g1) {
        _this253.massData[_g++] = new oimo.dynamics.constraint.solver.common.ContactSolverMassDataRow();
      }

      return _this253;
    }

    _createClass(oimo_dynamics_constraint_solver_pgs_PgsContactConstraintSolver, [{
      key: "preSolveVelocity",
      value: function preSolveVelocity(timeStep) {
        this.constraint._getVelocitySolverInfo(timeStep, this.info);

        this._b1 = this.info.b1;
        this._b2 = this.info.b2;
        var invM1 = this._b1._invMass;
        var invM2 = this._b2._invMass;
        var invI100;
        var invI101;
        var invI102;
        var invI110;
        var invI111;
        var invI112;
        var invI120;
        var invI121;
        var invI122;
        var invI200;
        var invI201;
        var invI202;
        var invI210;
        var invI211;
        var invI212;
        var invI220;
        var invI221;
        var invI222;
        invI100 = this._b1._invInertia00;
        invI101 = this._b1._invInertia01;
        invI102 = this._b1._invInertia02;
        invI110 = this._b1._invInertia10;
        invI111 = this._b1._invInertia11;
        invI112 = this._b1._invInertia12;
        invI120 = this._b1._invInertia20;
        invI121 = this._b1._invInertia21;
        invI122 = this._b1._invInertia22;
        invI200 = this._b2._invInertia00;
        invI201 = this._b2._invInertia01;
        invI202 = this._b2._invInertia02;
        invI210 = this._b2._invInertia10;
        invI211 = this._b2._invInertia11;
        invI212 = this._b2._invInertia12;
        invI220 = this._b2._invInertia20;
        invI221 = this._b2._invInertia21;
        invI222 = this._b2._invInertia22;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var md = this.massData[i];
          var j = row.jacobianN;
          md.invMLinN1X = j.lin1X * invM1;
          md.invMLinN1Y = j.lin1Y * invM1;
          md.invMLinN1Z = j.lin1Z * invM1;
          md.invMLinN2X = j.lin2X * invM2;
          md.invMLinN2Y = j.lin2Y * invM2;
          md.invMLinN2Z = j.lin2Z * invM2;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
          __tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
          __tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
          md.invMAngN1X = __tmp__X;
          md.invMAngN1Y = __tmp__Y;
          md.invMAngN1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
          __tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
          __tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
          md.invMAngN2X = __tmp__X1;
          md.invMAngN2Y = __tmp__Y1;
          md.invMAngN2Z = __tmp__Z1;
          md.massN = invM1 + invM2 + (md.invMAngN1X * j.ang1X + md.invMAngN1Y * j.ang1Y + md.invMAngN1Z * j.ang1Z) + (md.invMAngN2X * j.ang2X + md.invMAngN2Y * j.ang2Y + md.invMAngN2Z * j.ang2Z);

          if (md.massN != 0) {
            md.massN = 1 / md.massN;
          }

          var jt = row.jacobianT;
          var jb = row.jacobianB;
          md.invMLinT1X = jt.lin1X * invM1;
          md.invMLinT1Y = jt.lin1Y * invM1;
          md.invMLinT1Z = jt.lin1Z * invM1;
          md.invMLinT2X = jt.lin2X * invM2;
          md.invMLinT2Y = jt.lin2Y * invM2;
          md.invMLinT2Z = jt.lin2Z * invM2;
          md.invMLinB1X = jb.lin1X * invM1;
          md.invMLinB1Y = jb.lin1Y * invM1;
          md.invMLinB1Z = jb.lin1Z * invM1;
          md.invMLinB2X = jb.lin2X * invM2;
          md.invMLinB2Y = jb.lin2Y * invM2;
          md.invMLinB2Z = jb.lin2Z * invM2;

          var __tmp__X2 = void 0;

          var __tmp__Y2 = void 0;

          var __tmp__Z2 = void 0;

          __tmp__X2 = invI100 * jt.ang1X + invI101 * jt.ang1Y + invI102 * jt.ang1Z;
          __tmp__Y2 = invI110 * jt.ang1X + invI111 * jt.ang1Y + invI112 * jt.ang1Z;
          __tmp__Z2 = invI120 * jt.ang1X + invI121 * jt.ang1Y + invI122 * jt.ang1Z;
          md.invMAngT1X = __tmp__X2;
          md.invMAngT1Y = __tmp__Y2;
          md.invMAngT1Z = __tmp__Z2;

          var __tmp__X3 = void 0;

          var __tmp__Y3 = void 0;

          var __tmp__Z3 = void 0;

          __tmp__X3 = invI200 * jt.ang2X + invI201 * jt.ang2Y + invI202 * jt.ang2Z;
          __tmp__Y3 = invI210 * jt.ang2X + invI211 * jt.ang2Y + invI212 * jt.ang2Z;
          __tmp__Z3 = invI220 * jt.ang2X + invI221 * jt.ang2Y + invI222 * jt.ang2Z;
          md.invMAngT2X = __tmp__X3;
          md.invMAngT2Y = __tmp__Y3;
          md.invMAngT2Z = __tmp__Z3;

          var __tmp__X4 = void 0;

          var __tmp__Y4 = void 0;

          var __tmp__Z4 = void 0;

          __tmp__X4 = invI100 * jb.ang1X + invI101 * jb.ang1Y + invI102 * jb.ang1Z;
          __tmp__Y4 = invI110 * jb.ang1X + invI111 * jb.ang1Y + invI112 * jb.ang1Z;
          __tmp__Z4 = invI120 * jb.ang1X + invI121 * jb.ang1Y + invI122 * jb.ang1Z;
          md.invMAngB1X = __tmp__X4;
          md.invMAngB1Y = __tmp__Y4;
          md.invMAngB1Z = __tmp__Z4;

          var __tmp__X5 = void 0;

          var __tmp__Y5 = void 0;

          var __tmp__Z5 = void 0;

          __tmp__X5 = invI200 * jb.ang2X + invI201 * jb.ang2Y + invI202 * jb.ang2Z;
          __tmp__Y5 = invI210 * jb.ang2X + invI211 * jb.ang2Y + invI212 * jb.ang2Z;
          __tmp__Z5 = invI220 * jb.ang2X + invI221 * jb.ang2Y + invI222 * jb.ang2Z;
          md.invMAngB2X = __tmp__X5;
          md.invMAngB2Y = __tmp__Y5;
          md.invMAngB2Z = __tmp__Z5;
          var invMassTB00 = invM1 + invM2 + (md.invMAngT1X * jt.ang1X + md.invMAngT1Y * jt.ang1Y + md.invMAngT1Z * jt.ang1Z) + (md.invMAngT2X * jt.ang2X + md.invMAngT2Y * jt.ang2Y + md.invMAngT2Z * jt.ang2Z);
          var invMassTB01 = md.invMAngT1X * jb.ang1X + md.invMAngT1Y * jb.ang1Y + md.invMAngT1Z * jb.ang1Z + (md.invMAngT2X * jb.ang2X + md.invMAngT2Y * jb.ang2Y + md.invMAngT2Z * jb.ang2Z);
          var invMassTB11 = invM1 + invM2 + (md.invMAngB1X * jb.ang1X + md.invMAngB1Y * jb.ang1Y + md.invMAngB1Z * jb.ang1Z) + (md.invMAngB2X * jb.ang2X + md.invMAngB2Y * jb.ang2Y + md.invMAngB2Z * jb.ang2Z);
          var invDet = invMassTB00 * invMassTB11 - invMassTB01 * invMassTB01;

          if (invDet != 0) {
            invDet = 1 / invDet;
          }

          md.massTB00 = invMassTB11 * invDet;
          md.massTB01 = -invMassTB01 * invDet;
          md.massTB10 = -invMassTB01 * invDet;
          md.massTB11 = invMassTB00 * invDet;
        }
      }
    }, {
      key: "warmStart",
      value: function warmStart(timeStep) {
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._velX;
        lv1Y = this._b1._velY;
        lv1Z = this._b1._velZ;
        lv2X = this._b2._velX;
        lv2Y = this._b2._velY;
        lv2Z = this._b2._velZ;
        av1X = this._b1._angVelX;
        av1Y = this._b1._angVelY;
        av1Z = this._b1._angVelZ;
        av2X = this._b2._angVelX;
        av2Y = this._b2._angVelY;
        av2Z = this._b2._angVelZ;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var imp = row.impulse;
          var md = this.massData[i];
          var jt = row.jacobianT;
          var jb = row.jacobianB;
          var impulseN = imp.impulseN;
          var impulseT = imp.impulseLX * jt.lin1X + imp.impulseLY * jt.lin1Y + imp.impulseLZ * jt.lin1Z;
          var impulseB = imp.impulseLX * jb.lin1X + imp.impulseLY * jb.lin1Y + imp.impulseLZ * jb.lin1Z;
          imp.impulseT = impulseT;
          imp.impulseB = impulseB;
          imp.impulseN *= timeStep.dtRatio;
          imp.impulseT *= timeStep.dtRatio;
          imp.impulseB *= timeStep.dtRatio;
          lv1X += md.invMLinN1X * impulseN;
          lv1Y += md.invMLinN1Y * impulseN;
          lv1Z += md.invMLinN1Z * impulseN;
          lv1X += md.invMLinT1X * impulseT;
          lv1Y += md.invMLinT1Y * impulseT;
          lv1Z += md.invMLinT1Z * impulseT;
          lv1X += md.invMLinB1X * impulseB;
          lv1Y += md.invMLinB1Y * impulseB;
          lv1Z += md.invMLinB1Z * impulseB;
          lv2X += md.invMLinN2X * -impulseN;
          lv2Y += md.invMLinN2Y * -impulseN;
          lv2Z += md.invMLinN2Z * -impulseN;
          lv2X += md.invMLinT2X * -impulseT;
          lv2Y += md.invMLinT2Y * -impulseT;
          lv2Z += md.invMLinT2Z * -impulseT;
          lv2X += md.invMLinB2X * -impulseB;
          lv2Y += md.invMLinB2Y * -impulseB;
          lv2Z += md.invMLinB2Z * -impulseB;
          av1X += md.invMAngN1X * impulseN;
          av1Y += md.invMAngN1Y * impulseN;
          av1Z += md.invMAngN1Z * impulseN;
          av1X += md.invMAngT1X * impulseT;
          av1Y += md.invMAngT1Y * impulseT;
          av1Z += md.invMAngT1Z * impulseT;
          av1X += md.invMAngB1X * impulseB;
          av1Y += md.invMAngB1Y * impulseB;
          av1Z += md.invMAngB1Z * impulseB;
          av2X += md.invMAngN2X * -impulseN;
          av2Y += md.invMAngN2Y * -impulseN;
          av2Z += md.invMAngN2Z * -impulseN;
          av2X += md.invMAngT2X * -impulseT;
          av2Y += md.invMAngT2Y * -impulseT;
          av2Z += md.invMAngT2Z * -impulseT;
          av2X += md.invMAngB2X * -impulseB;
          av2Y += md.invMAngB2Y * -impulseB;
          av2Z += md.invMAngB2Z * -impulseB;
        }

        this._b1._velX = lv1X;
        this._b1._velY = lv1Y;
        this._b1._velZ = lv1Z;
        this._b2._velX = lv2X;
        this._b2._velY = lv2Y;
        this._b2._velZ = lv2Z;
        this._b1._angVelX = av1X;
        this._b1._angVelY = av1Y;
        this._b1._angVelZ = av1Z;
        this._b2._angVelX = av2X;
        this._b2._angVelY = av2Y;
        this._b2._angVelZ = av2Z;
      }
    }, {
      key: "solveVelocity",
      value: function solveVelocity() {
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._velX;
        lv1Y = this._b1._velY;
        lv1Z = this._b1._velZ;
        lv2X = this._b2._velX;
        lv2Y = this._b2._velY;
        lv2Z = this._b2._velZ;
        av1X = this._b1._angVelX;
        av1Y = this._b1._angVelY;
        av1Z = this._b1._angVelZ;
        av2X = this._b2._angVelX;
        av2Y = this._b2._angVelY;
        av2Z = this._b2._angVelZ;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var md = this.massData[i];
          var imp = row.impulse;
          var rvt = 0;
          var j = row.jacobianT;
          rvt += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
          rvt -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
          rvt += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
          rvt -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
          var rvb = 0;
          j = row.jacobianB;
          rvb += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
          rvb -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
          rvb += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
          rvb -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
          var impulseT = -(rvt * md.massTB00 + rvb * md.massTB01);
          var impulseB = -(rvt * md.massTB10 + rvb * md.massTB11);
          var oldImpulseT = imp.impulseT;
          var oldImpulseB = imp.impulseB;
          imp.impulseT += impulseT;
          imp.impulseB += impulseB;
          var maxImpulse = row.friction * imp.impulseN;

          if (maxImpulse == 0) {
            imp.impulseT = 0;
            imp.impulseB = 0;
          } else {
            var impulseLengthSq = imp.impulseT * imp.impulseT + imp.impulseB * imp.impulseB;

            if (impulseLengthSq > maxImpulse * maxImpulse) {
              var invL = maxImpulse / Math.sqrt(impulseLengthSq);
              imp.impulseT *= invL;
              imp.impulseB *= invL;
            }
          }

          impulseT = imp.impulseT - oldImpulseT;
          impulseB = imp.impulseB - oldImpulseB;
          lv1X += md.invMLinT1X * impulseT;
          lv1Y += md.invMLinT1Y * impulseT;
          lv1Z += md.invMLinT1Z * impulseT;
          lv1X += md.invMLinB1X * impulseB;
          lv1Y += md.invMLinB1Y * impulseB;
          lv1Z += md.invMLinB1Z * impulseB;
          lv2X += md.invMLinT2X * -impulseT;
          lv2Y += md.invMLinT2Y * -impulseT;
          lv2Z += md.invMLinT2Z * -impulseT;
          lv2X += md.invMLinB2X * -impulseB;
          lv2Y += md.invMLinB2Y * -impulseB;
          lv2Z += md.invMLinB2Z * -impulseB;
          av1X += md.invMAngT1X * impulseT;
          av1Y += md.invMAngT1Y * impulseT;
          av1Z += md.invMAngT1Z * impulseT;
          av1X += md.invMAngB1X * impulseB;
          av1Y += md.invMAngB1Y * impulseB;
          av1Z += md.invMAngB1Z * impulseB;
          av2X += md.invMAngT2X * -impulseT;
          av2Y += md.invMAngT2Y * -impulseT;
          av2Z += md.invMAngT2Z * -impulseT;
          av2X += md.invMAngB2X * -impulseB;
          av2Y += md.invMAngB2Y * -impulseB;
          av2Z += md.invMAngB2Z * -impulseB;
        }

        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          var _i153 = _g2++;

          var _row19 = this.info.rows[_i153];
          var _md = this.massData[_i153];
          var _imp4 = _row19.impulse;
          var rvn = 0;
          var _j16 = _row19.jacobianN;
          rvn += lv1X * _j16.lin1X + lv1Y * _j16.lin1Y + lv1Z * _j16.lin1Z;
          rvn -= lv2X * _j16.lin2X + lv2Y * _j16.lin2Y + lv2Z * _j16.lin2Z;
          rvn += av1X * _j16.ang1X + av1Y * _j16.ang1Y + av1Z * _j16.ang1Z;
          rvn -= av2X * _j16.ang2X + av2Y * _j16.ang2Y + av2Z * _j16.ang2Z;
          var impulseN = (_row19.rhs - rvn) * _md.massN;
          var oldImpulseN = _imp4.impulseN;
          _imp4.impulseN += impulseN;

          if (_imp4.impulseN < 0) {
            _imp4.impulseN = 0;
          }

          impulseN = _imp4.impulseN - oldImpulseN;
          lv1X += _md.invMLinN1X * impulseN;
          lv1Y += _md.invMLinN1Y * impulseN;
          lv1Z += _md.invMLinN1Z * impulseN;
          lv2X += _md.invMLinN2X * -impulseN;
          lv2Y += _md.invMLinN2Y * -impulseN;
          lv2Z += _md.invMLinN2Z * -impulseN;
          av1X += _md.invMAngN1X * impulseN;
          av1Y += _md.invMAngN1Y * impulseN;
          av1Z += _md.invMAngN1Z * impulseN;
          av2X += _md.invMAngN2X * -impulseN;
          av2Y += _md.invMAngN2Y * -impulseN;
          av2Z += _md.invMAngN2Z * -impulseN;
        }

        this._b1._velX = lv1X;
        this._b1._velY = lv1Y;
        this._b1._velZ = lv1Z;
        this._b2._velX = lv2X;
        this._b2._velY = lv2Y;
        this._b2._velZ = lv2Z;
        this._b1._angVelX = av1X;
        this._b1._angVelY = av1Y;
        this._b1._angVelZ = av1Z;
        this._b2._angVelX = av2X;
        this._b2._angVelY = av2Y;
        this._b2._angVelZ = av2Z;
      }
    }, {
      key: "preSolvePosition",
      value: function preSolvePosition(timeStep) {
        this.constraint._syncManifold();

        this.constraint._getPositionSolverInfo(this.info);

        var invM1 = this._b1._invMass;
        var invM2 = this._b2._invMass;
        var invI100;
        var invI101;
        var invI102;
        var invI110;
        var invI111;
        var invI112;
        var invI120;
        var invI121;
        var invI122;
        var invI200;
        var invI201;
        var invI202;
        var invI210;
        var invI211;
        var invI212;
        var invI220;
        var invI221;
        var invI222;
        invI100 = this._b1._invInertia00;
        invI101 = this._b1._invInertia01;
        invI102 = this._b1._invInertia02;
        invI110 = this._b1._invInertia10;
        invI111 = this._b1._invInertia11;
        invI112 = this._b1._invInertia12;
        invI120 = this._b1._invInertia20;
        invI121 = this._b1._invInertia21;
        invI122 = this._b1._invInertia22;
        invI200 = this._b2._invInertia00;
        invI201 = this._b2._invInertia01;
        invI202 = this._b2._invInertia02;
        invI210 = this._b2._invInertia10;
        invI211 = this._b2._invInertia11;
        invI212 = this._b2._invInertia12;
        invI220 = this._b2._invInertia20;
        invI221 = this._b2._invInertia21;
        invI222 = this._b2._invInertia22;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var md = this.massData[i];
          var j = this.info.rows[i].jacobianN;
          md.invMLinN1X = j.lin1X * invM1;
          md.invMLinN1Y = j.lin1Y * invM1;
          md.invMLinN1Z = j.lin1Z * invM1;
          md.invMLinN2X = j.lin2X * invM2;
          md.invMLinN2Y = j.lin2Y * invM2;
          md.invMLinN2Z = j.lin2Z * invM2;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
          __tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
          __tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
          md.invMAngN1X = __tmp__X;
          md.invMAngN1Y = __tmp__Y;
          md.invMAngN1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
          __tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
          __tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
          md.invMAngN2X = __tmp__X1;
          md.invMAngN2Y = __tmp__Y1;
          md.invMAngN2Z = __tmp__Z1;
          md.massN = invM1 + invM2 + (md.invMAngN1X * j.ang1X + md.invMAngN1Y * j.ang1Y + md.invMAngN1Z * j.ang1Z) + (md.invMAngN2X * j.ang2X + md.invMAngN2Y * j.ang2Y + md.invMAngN2Z * j.ang2Z);

          if (md.massN != 0) {
            md.massN = 1 / md.massN;
          }
        }

        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          this.info.rows[_g2++].impulse.impulseP = 0;
        }
      }
    }, {
      key: "solvePositionSplitImpulse",
      value: function solvePositionSplitImpulse() {
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._pseudoVelX;
        lv1Y = this._b1._pseudoVelY;
        lv1Z = this._b1._pseudoVelZ;
        lv2X = this._b2._pseudoVelX;
        lv2Y = this._b2._pseudoVelY;
        lv2Z = this._b2._pseudoVelZ;
        av1X = this._b1._angPseudoVelX;
        av1Y = this._b1._angPseudoVelY;
        av1Z = this._b1._angPseudoVelZ;
        av2X = this._b2._angPseudoVelX;
        av2Y = this._b2._angPseudoVelY;
        av2Z = this._b2._angPseudoVelZ;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var md = this.massData[i];
          var imp = row.impulse;
          var j = row.jacobianN;
          var rvn = 0;
          rvn += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
          rvn -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
          rvn += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
          rvn -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
          var impulseP = (row.rhs - rvn) * md.massN * oimo.common.Setting.positionSplitImpulseBaumgarte;
          var oldImpulseP = imp.impulseP;
          imp.impulseP += impulseP;

          if (imp.impulseP < 0) {
            imp.impulseP = 0;
          }

          impulseP = imp.impulseP - oldImpulseP;
          lv1X += md.invMLinN1X * impulseP;
          lv1Y += md.invMLinN1Y * impulseP;
          lv1Z += md.invMLinN1Z * impulseP;
          lv2X += md.invMLinN2X * -impulseP;
          lv2Y += md.invMLinN2Y * -impulseP;
          lv2Z += md.invMLinN2Z * -impulseP;
          av1X += md.invMAngN1X * impulseP;
          av1Y += md.invMAngN1Y * impulseP;
          av1Z += md.invMAngN1Z * impulseP;
          av2X += md.invMAngN2X * -impulseP;
          av2Y += md.invMAngN2Y * -impulseP;
          av2Z += md.invMAngN2Z * -impulseP;
        }

        this._b1._pseudoVelX = lv1X;
        this._b1._pseudoVelY = lv1Y;
        this._b1._pseudoVelZ = lv1Z;
        this._b2._pseudoVelX = lv2X;
        this._b2._pseudoVelY = lv2Y;
        this._b2._pseudoVelZ = lv2Z;
        this._b1._angPseudoVelX = av1X;
        this._b1._angPseudoVelY = av1Y;
        this._b1._angPseudoVelZ = av1Z;
        this._b2._angPseudoVelX = av2X;
        this._b2._angPseudoVelY = av2Y;
        this._b2._angPseudoVelZ = av2Z;
      }
    }, {
      key: "solvePositionNgs",
      value: function solvePositionNgs(timeStep) {
        this.constraint._syncManifold();

        this.constraint._getPositionSolverInfo(this.info);

        var invM1 = this._b1._invMass;
        var invM2 = this._b2._invMass;
        var invI100;
        var invI101;
        var invI102;
        var invI110;
        var invI111;
        var invI112;
        var invI120;
        var invI121;
        var invI122;
        var invI200;
        var invI201;
        var invI202;
        var invI210;
        var invI211;
        var invI212;
        var invI220;
        var invI221;
        var invI222;
        invI100 = this._b1._invInertia00;
        invI101 = this._b1._invInertia01;
        invI102 = this._b1._invInertia02;
        invI110 = this._b1._invInertia10;
        invI111 = this._b1._invInertia11;
        invI112 = this._b1._invInertia12;
        invI120 = this._b1._invInertia20;
        invI121 = this._b1._invInertia21;
        invI122 = this._b1._invInertia22;
        invI200 = this._b2._invInertia00;
        invI201 = this._b2._invInertia01;
        invI202 = this._b2._invInertia02;
        invI210 = this._b2._invInertia10;
        invI211 = this._b2._invInertia11;
        invI212 = this._b2._invInertia12;
        invI220 = this._b2._invInertia20;
        invI221 = this._b2._invInertia21;
        invI222 = this._b2._invInertia22;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var md = this.massData[i];
          var j = this.info.rows[i].jacobianN;
          md.invMLinN1X = j.lin1X * invM1;
          md.invMLinN1Y = j.lin1Y * invM1;
          md.invMLinN1Z = j.lin1Z * invM1;
          md.invMLinN2X = j.lin2X * invM2;
          md.invMLinN2Y = j.lin2Y * invM2;
          md.invMLinN2Z = j.lin2Z * invM2;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
          __tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
          __tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
          md.invMAngN1X = __tmp__X;
          md.invMAngN1Y = __tmp__Y;
          md.invMAngN1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
          __tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
          __tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
          md.invMAngN2X = __tmp__X1;
          md.invMAngN2Y = __tmp__Y1;
          md.invMAngN2Z = __tmp__Z1;
          md.massN = invM1 + invM2 + (md.invMAngN1X * j.ang1X + md.invMAngN1Y * j.ang1Y + md.invMAngN1Z * j.ang1Z) + (md.invMAngN2X * j.ang2X + md.invMAngN2Y * j.ang2Y + md.invMAngN2Z * j.ang2Z);

          if (md.massN != 0) {
            md.massN = 1 / md.massN;
          }
        }

        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = 0;
        lv1Y = 0;
        lv1Z = 0;
        lv2X = 0;
        lv2Y = 0;
        lv2Z = 0;
        av1X = 0;
        av1Y = 0;
        av1Z = 0;
        av2X = 0;
        av2Y = 0;
        av2Z = 0;
        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          var _i154 = _g2++;

          var row = this.info.rows[_i154];
          var _md2 = this.massData[_i154];
          var imp = row.impulse;
          var _j17 = row.jacobianN;
          var rvn = 0;
          rvn += lv1X * _j17.lin1X + lv1Y * _j17.lin1Y + lv1Z * _j17.lin1Z;
          rvn -= lv2X * _j17.lin2X + lv2Y * _j17.lin2Y + lv2Z * _j17.lin2Z;
          rvn += av1X * _j17.ang1X + av1Y * _j17.ang1Y + av1Z * _j17.ang1Z;
          rvn -= av2X * _j17.ang2X + av2Y * _j17.ang2Y + av2Z * _j17.ang2Z;
          var impulseP = (row.rhs - rvn) * _md2.massN * oimo.common.Setting.positionNgsBaumgarte;
          var oldImpulseP = imp.impulseP;
          imp.impulseP += impulseP;

          if (imp.impulseP < 0) {
            imp.impulseP = 0;
          }

          impulseP = imp.impulseP - oldImpulseP;
          lv1X += _md2.invMLinN1X * impulseP;
          lv1Y += _md2.invMLinN1Y * impulseP;
          lv1Z += _md2.invMLinN1Z * impulseP;
          lv2X += _md2.invMLinN2X * -impulseP;
          lv2Y += _md2.invMLinN2Y * -impulseP;
          lv2Z += _md2.invMLinN2Z * -impulseP;
          av1X += _md2.invMAngN1X * impulseP;
          av1Y += _md2.invMAngN1Y * impulseP;
          av1Z += _md2.invMAngN1Z * impulseP;
          av2X += _md2.invMAngN2X * -impulseP;
          av2Y += _md2.invMAngN2Y * -impulseP;
          av2Z += _md2.invMAngN2Z * -impulseP;
        }

        var _this = this._b1;
        _this._transform._positionX += lv1X;
        _this._transform._positionY += lv1Y;
        _this._transform._positionZ += lv1Z;
        var _this1 = this._b2;
        _this1._transform._positionX += lv2X;
        _this1._transform._positionY += lv2Y;
        _this1._transform._positionZ += lv2Z;
        var _this2 = this._b1;
        var theta = Math.sqrt(av1X * av1X + av1Y * av1Y + av1Z * av1Z);
        var halfTheta = theta * 0.5;
        var rotationToSinAxisFactor;
        var cosHalfTheta;

        if (halfTheta < 0.5) {
          var ht2 = halfTheta * halfTheta;
          rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
          cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
        } else {
          rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
          cosHalfTheta = Math.cos(halfTheta);
        }

        var sinAxisX;
        var sinAxisY;
        var sinAxisZ;
        sinAxisX = av1X * rotationToSinAxisFactor;
        sinAxisY = av1Y * rotationToSinAxisFactor;
        sinAxisZ = av1Z * rotationToSinAxisFactor;
        var dqX;
        var dqY;
        var dqZ;
        var dqW;
        dqX = sinAxisX;
        dqY = sinAxisY;
        dqZ = sinAxisZ;
        dqW = cosHalfTheta;
        var qX;
        var qY;
        var qZ;
        var qW;
        var e00 = _this2._transform._rotation00;
        var e11 = _this2._transform._rotation11;
        var e22 = _this2._transform._rotation22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          qW = 0.5 * s;
          s = 0.5 / s;
          qX = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
          qY = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
          qZ = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            qX = 0.5 * s;
            s = 0.5 / s;
            qY = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
            qZ = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
            qW = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            qZ = 0.5 * s;
            s = 0.5 / s;
            qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
            qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
            qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          qY = 0.5 * s;
          s = 0.5 / s;
          qX = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
          qZ = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
          qW = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          qZ = 0.5 * s;
          s = 0.5 / s;
          qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
          qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
          qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
        }

        qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
        qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
        qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
        qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
        var l = qX * qX + qY * qY + qZ * qZ + qW * qW;

        if (l > 1e-32) {
          l = 1 / Math.sqrt(l);
        }

        qX *= l;
        qY *= l;
        qZ *= l;
        qW *= l;
        var x = qX;
        var y = qY;
        var z = qZ;
        var w = qW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        _this2._transform._rotation00 = 1 - yy - zz;
        _this2._transform._rotation01 = xy - wz;
        _this2._transform._rotation02 = xz + wy;
        _this2._transform._rotation10 = xy + wz;
        _this2._transform._rotation11 = 1 - xx - zz;
        _this2._transform._rotation12 = yz - wx;
        _this2._transform._rotation20 = xz - wy;
        _this2._transform._rotation21 = yz + wx;
        _this2._transform._rotation22 = 1 - xx - yy;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = _this2._transform._rotation00 * _this2._invLocalInertia00 + _this2._transform._rotation01 * _this2._invLocalInertia10 + _this2._transform._rotation02 * _this2._invLocalInertia20;
        __tmp__01 = _this2._transform._rotation00 * _this2._invLocalInertia01 + _this2._transform._rotation01 * _this2._invLocalInertia11 + _this2._transform._rotation02 * _this2._invLocalInertia21;
        __tmp__02 = _this2._transform._rotation00 * _this2._invLocalInertia02 + _this2._transform._rotation01 * _this2._invLocalInertia12 + _this2._transform._rotation02 * _this2._invLocalInertia22;
        __tmp__10 = _this2._transform._rotation10 * _this2._invLocalInertia00 + _this2._transform._rotation11 * _this2._invLocalInertia10 + _this2._transform._rotation12 * _this2._invLocalInertia20;
        __tmp__11 = _this2._transform._rotation10 * _this2._invLocalInertia01 + _this2._transform._rotation11 * _this2._invLocalInertia11 + _this2._transform._rotation12 * _this2._invLocalInertia21;
        __tmp__12 = _this2._transform._rotation10 * _this2._invLocalInertia02 + _this2._transform._rotation11 * _this2._invLocalInertia12 + _this2._transform._rotation12 * _this2._invLocalInertia22;
        __tmp__20 = _this2._transform._rotation20 * _this2._invLocalInertia00 + _this2._transform._rotation21 * _this2._invLocalInertia10 + _this2._transform._rotation22 * _this2._invLocalInertia20;
        __tmp__21 = _this2._transform._rotation20 * _this2._invLocalInertia01 + _this2._transform._rotation21 * _this2._invLocalInertia11 + _this2._transform._rotation22 * _this2._invLocalInertia21;
        __tmp__22 = _this2._transform._rotation20 * _this2._invLocalInertia02 + _this2._transform._rotation21 * _this2._invLocalInertia12 + _this2._transform._rotation22 * _this2._invLocalInertia22;
        _this2._invInertia00 = __tmp__00;
        _this2._invInertia01 = __tmp__01;
        _this2._invInertia02 = __tmp__02;
        _this2._invInertia10 = __tmp__10;
        _this2._invInertia11 = __tmp__11;
        _this2._invInertia12 = __tmp__12;
        _this2._invInertia20 = __tmp__20;
        _this2._invInertia21 = __tmp__21;
        _this2._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = _this2._invInertia00 * _this2._transform._rotation00 + _this2._invInertia01 * _this2._transform._rotation01 + _this2._invInertia02 * _this2._transform._rotation02;
        __tmp__011 = _this2._invInertia00 * _this2._transform._rotation10 + _this2._invInertia01 * _this2._transform._rotation11 + _this2._invInertia02 * _this2._transform._rotation12;
        __tmp__021 = _this2._invInertia00 * _this2._transform._rotation20 + _this2._invInertia01 * _this2._transform._rotation21 + _this2._invInertia02 * _this2._transform._rotation22;
        __tmp__101 = _this2._invInertia10 * _this2._transform._rotation00 + _this2._invInertia11 * _this2._transform._rotation01 + _this2._invInertia12 * _this2._transform._rotation02;
        __tmp__111 = _this2._invInertia10 * _this2._transform._rotation10 + _this2._invInertia11 * _this2._transform._rotation11 + _this2._invInertia12 * _this2._transform._rotation12;
        __tmp__121 = _this2._invInertia10 * _this2._transform._rotation20 + _this2._invInertia11 * _this2._transform._rotation21 + _this2._invInertia12 * _this2._transform._rotation22;
        __tmp__201 = _this2._invInertia20 * _this2._transform._rotation00 + _this2._invInertia21 * _this2._transform._rotation01 + _this2._invInertia22 * _this2._transform._rotation02;
        __tmp__211 = _this2._invInertia20 * _this2._transform._rotation10 + _this2._invInertia21 * _this2._transform._rotation11 + _this2._invInertia22 * _this2._transform._rotation12;
        __tmp__221 = _this2._invInertia20 * _this2._transform._rotation20 + _this2._invInertia21 * _this2._transform._rotation21 + _this2._invInertia22 * _this2._transform._rotation22;
        _this2._invInertia00 = __tmp__001;
        _this2._invInertia01 = __tmp__011;
        _this2._invInertia02 = __tmp__021;
        _this2._invInertia10 = __tmp__101;
        _this2._invInertia11 = __tmp__111;
        _this2._invInertia12 = __tmp__121;
        _this2._invInertia20 = __tmp__201;
        _this2._invInertia21 = __tmp__211;
        _this2._invInertia22 = __tmp__221;
        _this2._invInertia00 *= _this2._rotFactor.x;
        _this2._invInertia01 *= _this2._rotFactor.x;
        _this2._invInertia02 *= _this2._rotFactor.x;
        _this2._invInertia10 *= _this2._rotFactor.y;
        _this2._invInertia11 *= _this2._rotFactor.y;
        _this2._invInertia12 *= _this2._rotFactor.y;
        _this2._invInertia20 *= _this2._rotFactor.z;
        _this2._invInertia21 *= _this2._rotFactor.z;
        _this2._invInertia22 *= _this2._rotFactor.z;
        var _this3 = this._b2;
        var theta1 = Math.sqrt(av2X * av2X + av2Y * av2Y + av2Z * av2Z);
        var halfTheta1 = theta1 * 0.5;
        var rotationToSinAxisFactor1;
        var cosHalfTheta1;

        if (halfTheta1 < 0.5) {
          var _ht2 = halfTheta1 * halfTheta1;

          rotationToSinAxisFactor1 = 0.5 * (1 - _ht2 * 0.16666666666666666 + _ht2 * _ht2 * 0.0083333333333333332);
          cosHalfTheta1 = 1 - _ht2 * 0.5 + _ht2 * _ht2 * 0.041666666666666664;
        } else {
          rotationToSinAxisFactor1 = Math.sin(halfTheta1) / theta1;
          cosHalfTheta1 = Math.cos(halfTheta1);
        }

        var sinAxisX1;
        var sinAxisY1;
        var sinAxisZ1;
        sinAxisX1 = av2X * rotationToSinAxisFactor1;
        sinAxisY1 = av2Y * rotationToSinAxisFactor1;
        sinAxisZ1 = av2Z * rotationToSinAxisFactor1;
        var dqX1;
        var dqY1;
        var dqZ1;
        var dqW1;
        dqX1 = sinAxisX1;
        dqY1 = sinAxisY1;
        dqZ1 = sinAxisZ1;
        dqW1 = cosHalfTheta1;
        var qX1;
        var qY1;
        var qZ1;
        var qW1;
        var e001 = _this3._transform._rotation00;
        var e111 = _this3._transform._rotation11;
        var e221 = _this3._transform._rotation22;
        var t1 = e001 + e111 + e221;
        var s1;

        if (t1 > 0) {
          s1 = Math.sqrt(t1 + 1);
          qW1 = 0.5 * s1;
          s1 = 0.5 / s1;
          qX1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
          qY1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
          qZ1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
        } else if (e001 > e111) {
          if (e001 > e221) {
            s1 = Math.sqrt(e001 - e111 - e221 + 1);
            qX1 = 0.5 * s1;
            s1 = 0.5 / s1;
            qY1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
            qZ1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
            qW1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
          } else {
            s1 = Math.sqrt(e221 - e001 - e111 + 1);
            qZ1 = 0.5 * s1;
            s1 = 0.5 / s1;
            qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
            qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
            qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
          }
        } else if (e111 > e221) {
          s1 = Math.sqrt(e111 - e221 - e001 + 1);
          qY1 = 0.5 * s1;
          s1 = 0.5 / s1;
          qX1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
          qZ1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
          qW1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
        } else {
          s1 = Math.sqrt(e221 - e001 - e111 + 1);
          qZ1 = 0.5 * s1;
          s1 = 0.5 / s1;
          qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
          qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
          qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
        }

        qX1 = dqW1 * qX1 + dqX1 * qW1 + dqY1 * qZ1 - dqZ1 * qY1;
        qY1 = dqW1 * qY1 - dqX1 * qZ1 + dqY1 * qW1 + dqZ1 * qX1;
        qZ1 = dqW1 * qZ1 + dqX1 * qY1 - dqY1 * qX1 + dqZ1 * qW1;
        qW1 = dqW1 * qW1 - dqX1 * qX1 - dqY1 * qY1 - dqZ1 * qZ1;
        var l1 = qX1 * qX1 + qY1 * qY1 + qZ1 * qZ1 + qW1 * qW1;

        if (l1 > 1e-32) {
          l1 = 1 / Math.sqrt(l1);
        }

        qX1 *= l1;
        qY1 *= l1;
        qZ1 *= l1;
        qW1 *= l1;
        var x1 = qX1;
        var y1 = qY1;
        var z1 = qZ1;
        var w1 = qW1;
        var x21 = 2 * x1;
        var y21 = 2 * y1;
        var z21 = 2 * z1;
        var xx1 = x1 * x21;
        var yy1 = y1 * y21;
        var zz1 = z1 * z21;
        var xy1 = x1 * y21;
        var yz1 = y1 * z21;
        var xz1 = x1 * z21;
        var wx1 = w1 * x21;
        var wy1 = w1 * y21;
        var wz1 = w1 * z21;
        _this3._transform._rotation00 = 1 - yy1 - zz1;
        _this3._transform._rotation01 = xy1 - wz1;
        _this3._transform._rotation02 = xz1 + wy1;
        _this3._transform._rotation10 = xy1 + wz1;
        _this3._transform._rotation11 = 1 - xx1 - zz1;
        _this3._transform._rotation12 = yz1 - wx1;
        _this3._transform._rotation20 = xz1 - wy1;
        _this3._transform._rotation21 = yz1 + wx1;
        _this3._transform._rotation22 = 1 - xx1 - yy1;

        var __tmp__002;

        var __tmp__012;

        var __tmp__022;

        var __tmp__102;

        var __tmp__112;

        var __tmp__122;

        var __tmp__202;

        var __tmp__212;

        var __tmp__222;

        __tmp__002 = _this3._transform._rotation00 * _this3._invLocalInertia00 + _this3._transform._rotation01 * _this3._invLocalInertia10 + _this3._transform._rotation02 * _this3._invLocalInertia20;
        __tmp__012 = _this3._transform._rotation00 * _this3._invLocalInertia01 + _this3._transform._rotation01 * _this3._invLocalInertia11 + _this3._transform._rotation02 * _this3._invLocalInertia21;
        __tmp__022 = _this3._transform._rotation00 * _this3._invLocalInertia02 + _this3._transform._rotation01 * _this3._invLocalInertia12 + _this3._transform._rotation02 * _this3._invLocalInertia22;
        __tmp__102 = _this3._transform._rotation10 * _this3._invLocalInertia00 + _this3._transform._rotation11 * _this3._invLocalInertia10 + _this3._transform._rotation12 * _this3._invLocalInertia20;
        __tmp__112 = _this3._transform._rotation10 * _this3._invLocalInertia01 + _this3._transform._rotation11 * _this3._invLocalInertia11 + _this3._transform._rotation12 * _this3._invLocalInertia21;
        __tmp__122 = _this3._transform._rotation10 * _this3._invLocalInertia02 + _this3._transform._rotation11 * _this3._invLocalInertia12 + _this3._transform._rotation12 * _this3._invLocalInertia22;
        __tmp__202 = _this3._transform._rotation20 * _this3._invLocalInertia00 + _this3._transform._rotation21 * _this3._invLocalInertia10 + _this3._transform._rotation22 * _this3._invLocalInertia20;
        __tmp__212 = _this3._transform._rotation20 * _this3._invLocalInertia01 + _this3._transform._rotation21 * _this3._invLocalInertia11 + _this3._transform._rotation22 * _this3._invLocalInertia21;
        __tmp__222 = _this3._transform._rotation20 * _this3._invLocalInertia02 + _this3._transform._rotation21 * _this3._invLocalInertia12 + _this3._transform._rotation22 * _this3._invLocalInertia22;
        _this3._invInertia00 = __tmp__002;
        _this3._invInertia01 = __tmp__012;
        _this3._invInertia02 = __tmp__022;
        _this3._invInertia10 = __tmp__102;
        _this3._invInertia11 = __tmp__112;
        _this3._invInertia12 = __tmp__122;
        _this3._invInertia20 = __tmp__202;
        _this3._invInertia21 = __tmp__212;
        _this3._invInertia22 = __tmp__222;

        var __tmp__003;

        var __tmp__013;

        var __tmp__023;

        var __tmp__103;

        var __tmp__113;

        var __tmp__123;

        var __tmp__203;

        var __tmp__213;

        var __tmp__223;

        __tmp__003 = _this3._invInertia00 * _this3._transform._rotation00 + _this3._invInertia01 * _this3._transform._rotation01 + _this3._invInertia02 * _this3._transform._rotation02;
        __tmp__013 = _this3._invInertia00 * _this3._transform._rotation10 + _this3._invInertia01 * _this3._transform._rotation11 + _this3._invInertia02 * _this3._transform._rotation12;
        __tmp__023 = _this3._invInertia00 * _this3._transform._rotation20 + _this3._invInertia01 * _this3._transform._rotation21 + _this3._invInertia02 * _this3._transform._rotation22;
        __tmp__103 = _this3._invInertia10 * _this3._transform._rotation00 + _this3._invInertia11 * _this3._transform._rotation01 + _this3._invInertia12 * _this3._transform._rotation02;
        __tmp__113 = _this3._invInertia10 * _this3._transform._rotation10 + _this3._invInertia11 * _this3._transform._rotation11 + _this3._invInertia12 * _this3._transform._rotation12;
        __tmp__123 = _this3._invInertia10 * _this3._transform._rotation20 + _this3._invInertia11 * _this3._transform._rotation21 + _this3._invInertia12 * _this3._transform._rotation22;
        __tmp__203 = _this3._invInertia20 * _this3._transform._rotation00 + _this3._invInertia21 * _this3._transform._rotation01 + _this3._invInertia22 * _this3._transform._rotation02;
        __tmp__213 = _this3._invInertia20 * _this3._transform._rotation10 + _this3._invInertia21 * _this3._transform._rotation11 + _this3._invInertia22 * _this3._transform._rotation12;
        __tmp__223 = _this3._invInertia20 * _this3._transform._rotation20 + _this3._invInertia21 * _this3._transform._rotation21 + _this3._invInertia22 * _this3._transform._rotation22;
        _this3._invInertia00 = __tmp__003;
        _this3._invInertia01 = __tmp__013;
        _this3._invInertia02 = __tmp__023;
        _this3._invInertia10 = __tmp__103;
        _this3._invInertia11 = __tmp__113;
        _this3._invInertia12 = __tmp__123;
        _this3._invInertia20 = __tmp__203;
        _this3._invInertia21 = __tmp__213;
        _this3._invInertia22 = __tmp__223;
        _this3._invInertia00 *= _this3._rotFactor.x;
        _this3._invInertia01 *= _this3._rotFactor.x;
        _this3._invInertia02 *= _this3._rotFactor.x;
        _this3._invInertia10 *= _this3._rotFactor.y;
        _this3._invInertia11 *= _this3._rotFactor.y;
        _this3._invInertia12 *= _this3._rotFactor.y;
        _this3._invInertia20 *= _this3._rotFactor.z;
        _this3._invInertia21 *= _this3._rotFactor.z;
        _this3._invInertia22 *= _this3._rotFactor.z;
      }
    }, {
      key: "postSolve",
      value: function postSolve() {
        var lin1X;
        var lin1Y;
        var lin1Z;
        var ang1X;
        var ang1Y;
        var ang1Z;
        var ang2X;
        var ang2Y;
        var ang2Z;
        lin1X = 0;
        lin1Y = 0;
        lin1Z = 0;
        ang1X = 0;
        ang1Y = 0;
        ang1Z = 0;
        ang2X = 0;
        ang2Y = 0;
        ang2Z = 0;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var row = this.info.rows[_g++];
          var imp = row.impulse;
          var jn = row.jacobianN;
          var jt = row.jacobianT;
          var jb = row.jacobianB;
          var impN = imp.impulseN;
          var impT = imp.impulseT;
          var impB = imp.impulseB;
          var impulseLX = void 0;
          var impulseLY = void 0;
          var impulseLZ = void 0;
          impulseLX = 0;
          impulseLY = 0;
          impulseLZ = 0;
          impulseLX += jt.lin1X * impT;
          impulseLY += jt.lin1Y * impT;
          impulseLZ += jt.lin1Z * impT;
          impulseLX += jb.lin1X * impB;
          impulseLY += jb.lin1Y * impB;
          impulseLZ += jb.lin1Z * impB;
          imp.impulseLX = impulseLX;
          imp.impulseLY = impulseLY;
          imp.impulseLZ = impulseLZ;
          lin1X += jn.lin1X * impN;
          lin1Y += jn.lin1Y * impN;
          lin1Z += jn.lin1Z * impN;
          ang1X += jn.ang1X * impN;
          ang1Y += jn.ang1Y * impN;
          ang1Z += jn.ang1Z * impN;
          ang2X += jn.ang2X * impN;
          ang2Y += jn.ang2Y * impN;
          ang2Z += jn.ang2Z * impN;
          lin1X += jt.lin1X * impT;
          lin1Y += jt.lin1Y * impT;
          lin1Z += jt.lin1Z * impT;
          ang1X += jt.ang1X * impT;
          ang1Y += jt.ang1Y * impT;
          ang1Z += jt.ang1Z * impT;
          ang2X += jt.ang2X * impT;
          ang2Y += jt.ang2Y * impT;
          ang2Z += jt.ang2Z * impT;
          lin1X += jb.lin1X * impB;
          lin1Y += jb.lin1Y * impB;
          lin1Z += jb.lin1Z * impB;
          ang1X += jb.ang1X * impB;
          ang1Y += jb.ang1Y * impB;
          ang1Z += jb.ang1Z * impB;
          ang2X += jb.ang2X * impB;
          ang2Y += jb.ang2Y * impB;
          ang2Z += jb.ang2Z * impB;
        }

        this._b1._linearContactImpulseX += lin1X;
        this._b1._linearContactImpulseY += lin1Y;
        this._b1._linearContactImpulseZ += lin1Z;
        this._b1._angularContactImpulseX += ang1X;
        this._b1._angularContactImpulseY += ang1Y;
        this._b1._angularContactImpulseZ += ang1Z;
        this._b2._linearContactImpulseX -= lin1X;
        this._b2._linearContactImpulseY -= lin1Y;
        this._b2._linearContactImpulseZ -= lin1Z;
        this._b2._angularContactImpulseX -= ang2X;
        this._b2._angularContactImpulseY -= ang2Y;
        this._b2._angularContactImpulseZ -= ang2Z;

        this.constraint._syncManifold();
      }
    }]);

    return oimo_dynamics_constraint_solver_pgs_PgsContactConstraintSolver;
  }(oimo.dynamics.constraint.ConstraintSolver);

  oimo.dynamics.constraint.solver.pgs.PgsJointConstraintSolver = /*#__PURE__*/function (_oimo$dynamics$constr17) {
    _inherits(oimo_dynamics_constraint_solver_pgs_PgsJointConstraintSolver, _oimo$dynamics$constr17);

    var _super39 = _createSuper(oimo_dynamics_constraint_solver_pgs_PgsJointConstraintSolver);

    function oimo_dynamics_constraint_solver_pgs_PgsJointConstraintSolver(joint) {
      var _this254;

      _classCallCheck(this, oimo_dynamics_constraint_solver_pgs_PgsJointConstraintSolver);

      _this254 = _super39.call(this);
      _this254.joint = joint;
      _this254.info = new oimo.dynamics.constraint.info.joint.JointSolverInfo();
      _this254.massData = new Array(oimo.common.Setting.maxJacobianRows);
      var _g = 0;
      var _g1 = _this254.massData.length;

      while (_g < _g1) {
        _this254.massData[_g++] = new oimo.dynamics.constraint.solver.common.JointSolverMassDataRow();
      }

      return _this254;
    }

    _createClass(oimo_dynamics_constraint_solver_pgs_PgsJointConstraintSolver, [{
      key: "preSolveVelocity",
      value: function preSolveVelocity(timeStep) {
        this.joint._syncAnchors();

        this.joint._getVelocitySolverInfo(timeStep, this.info);

        this._b1 = this.info.b1;
        this._b2 = this.info.b2;
        var invM1 = this._b1._invMass;
        var invM2 = this._b2._invMass;
        var invI100;
        var invI101;
        var invI102;
        var invI110;
        var invI111;
        var invI112;
        var invI120;
        var invI121;
        var invI122;
        var invI200;
        var invI201;
        var invI202;
        var invI210;
        var invI211;
        var invI212;
        var invI220;
        var invI221;
        var invI222;
        invI100 = this._b1._invInertia00;
        invI101 = this._b1._invInertia01;
        invI102 = this._b1._invInertia02;
        invI110 = this._b1._invInertia10;
        invI111 = this._b1._invInertia11;
        invI112 = this._b1._invInertia12;
        invI120 = this._b1._invInertia20;
        invI121 = this._b1._invInertia21;
        invI122 = this._b1._invInertia22;
        invI200 = this._b2._invInertia00;
        invI201 = this._b2._invInertia01;
        invI202 = this._b2._invInertia02;
        invI210 = this._b2._invInertia10;
        invI211 = this._b2._invInertia11;
        invI212 = this._b2._invInertia12;
        invI220 = this._b2._invInertia20;
        invI221 = this._b2._invInertia21;
        invI222 = this._b2._invInertia22;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var md = this.massData[i];
          var j = row.jacobian;
          j.updateSparsity();

          if ((j.flag & 1) != 0) {
            md.invMLin1X = j.lin1X * invM1;
            md.invMLin1Y = j.lin1Y * invM1;
            md.invMLin1Z = j.lin1Z * invM1;
            md.invMLin2X = j.lin2X * invM2;
            md.invMLin2Y = j.lin2Y * invM2;
            md.invMLin2Z = j.lin2Z * invM2;
          } else {
            md.invMLin1X = 0;
            md.invMLin1Y = 0;
            md.invMLin1Z = 0;
            md.invMLin2X = 0;
            md.invMLin2Y = 0;
            md.invMLin2Z = 0;
          }

          if ((j.flag & 2) != 0) {
            var __tmp__X = void 0;

            var __tmp__Y = void 0;

            var __tmp__Z = void 0;

            __tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
            __tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
            __tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
            md.invMAng1X = __tmp__X;
            md.invMAng1Y = __tmp__Y;
            md.invMAng1Z = __tmp__Z;

            var __tmp__X1 = void 0;

            var __tmp__Y1 = void 0;

            var __tmp__Z1 = void 0;

            __tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
            __tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
            __tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
            md.invMAng2X = __tmp__X1;
            md.invMAng2Y = __tmp__Y1;
            md.invMAng2Z = __tmp__Z1;
          } else {
            md.invMAng1X = 0;
            md.invMAng1Y = 0;
            md.invMAng1Z = 0;
            md.invMAng2X = 0;
            md.invMAng2Y = 0;
            md.invMAng2Z = 0;
          }

          md.massWithoutCfm = md.invMLin1X * j.lin1X + md.invMLin1Y * j.lin1Y + md.invMLin1Z * j.lin1Z + (md.invMLin2X * j.lin2X + md.invMLin2Y * j.lin2Y + md.invMLin2Z * j.lin2Z) + (md.invMAng1X * j.ang1X + md.invMAng1Y * j.ang1Y + md.invMAng1Z * j.ang1Z) + (md.invMAng2X * j.ang2X + md.invMAng2Y * j.ang2Y + md.invMAng2Z * j.ang2Z);
          md.mass = md.massWithoutCfm + row.cfm;

          if (md.massWithoutCfm != 0) {
            md.massWithoutCfm = 1 / md.massWithoutCfm;
          }

          if (md.mass != 0) {
            md.mass = 1 / md.mass;
          }
        }
      }
    }, {
      key: "warmStart",
      value: function warmStart(timeStep) {
        var factor = this.joint._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE ? oimo.common.Setting.jointWarmStartingFactorForBaungarte : oimo.common.Setting.jointWarmStartingFactor;
        factor *= timeStep.dtRatio;

        if (factor <= 0) {
          var _g330 = 0;
          var _g331 = this.info.numRows;

          while (_g330 < _g331) {
            var _this = this.info.rows[_g330++].impulse;
            _this.impulse = 0;
            _this.impulseM = 0;
            _this.impulseP = 0;
          }

          return;
        }

        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._velX;
        lv1Y = this._b1._velY;
        lv1Z = this._b1._velZ;
        lv2X = this._b2._velX;
        lv2Y = this._b2._velY;
        lv2Z = this._b2._velZ;
        av1X = this._b1._angVelX;
        av1Y = this._b1._angVelY;
        av1Z = this._b1._angVelZ;
        av2X = this._b2._angVelX;
        av2Y = this._b2._angVelY;
        av2Z = this._b2._angVelZ;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var md = this.massData[i];
          var imp = this.info.rows[i].impulse;
          imp.impulse *= factor;
          imp.impulseM *= factor;
          var impulse = imp.impulse + imp.impulseM;
          lv1X += md.invMLin1X * impulse;
          lv1Y += md.invMLin1Y * impulse;
          lv1Z += md.invMLin1Z * impulse;
          lv2X += md.invMLin2X * -impulse;
          lv2Y += md.invMLin2Y * -impulse;
          lv2Z += md.invMLin2Z * -impulse;
          av1X += md.invMAng1X * impulse;
          av1Y += md.invMAng1Y * impulse;
          av1Z += md.invMAng1Z * impulse;
          av2X += md.invMAng2X * -impulse;
          av2Y += md.invMAng2Y * -impulse;
          av2Z += md.invMAng2Z * -impulse;
        }

        this._b1._velX = lv1X;
        this._b1._velY = lv1Y;
        this._b1._velZ = lv1Z;
        this._b2._velX = lv2X;
        this._b2._velY = lv2Y;
        this._b2._velZ = lv2Z;
        this._b1._angVelX = av1X;
        this._b1._angVelY = av1Y;
        this._b1._angVelZ = av1Z;
        this._b2._angVelX = av2X;
        this._b2._angVelY = av2Y;
        this._b2._angVelZ = av2Z;
      }
    }, {
      key: "solveVelocity",
      value: function solveVelocity() {
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._velX;
        lv1Y = this._b1._velY;
        lv1Z = this._b1._velZ;
        lv2X = this._b2._velX;
        lv2Y = this._b2._velY;
        lv2Z = this._b2._velZ;
        av1X = this._b1._angVelX;
        av1Y = this._b1._angVelY;
        av1Z = this._b1._angVelZ;
        av2X = this._b2._angVelX;
        av2Y = this._b2._angVelY;
        av2Z = this._b2._angVelZ;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var md = this.massData[i];
          var imp = row.impulse;
          var j = row.jacobian;

          if (row.motorMaxImpulse == 0) {
            continue;
          }

          var rv = 0;
          rv += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
          rv -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
          rv += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
          rv -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
          var impulseM = (-row.motorSpeed - rv) * md.massWithoutCfm;
          var oldImpulseM = imp.impulseM;
          imp.impulseM += impulseM;

          if (imp.impulseM < -row.motorMaxImpulse) {
            imp.impulseM = -row.motorMaxImpulse;
          } else if (imp.impulseM > row.motorMaxImpulse) {
            imp.impulseM = row.motorMaxImpulse;
          }

          impulseM = imp.impulseM - oldImpulseM;

          if ((j.flag & 1) != 0) {
            lv1X += md.invMLin1X * impulseM;
            lv1Y += md.invMLin1Y * impulseM;
            lv1Z += md.invMLin1Z * impulseM;
            lv2X += md.invMLin2X * -impulseM;
            lv2Y += md.invMLin2Y * -impulseM;
            lv2Z += md.invMLin2Z * -impulseM;
          }

          if ((j.flag & 2) != 0) {
            av1X += md.invMAng1X * impulseM;
            av1Y += md.invMAng1Y * impulseM;
            av1Z += md.invMAng1Z * impulseM;
            av2X += md.invMAng2X * -impulseM;
            av2Y += md.invMAng2Y * -impulseM;
            av2Z += md.invMAng2Z * -impulseM;
          }
        }

        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          var _i155 = _g2++;

          var _row20 = this.info.rows[_i155];
          var _md3 = this.massData[_i155];
          var _imp5 = _row20.impulse;
          var _j18 = _row20.jacobian;
          var _rv = 0;
          _rv += lv1X * _j18.lin1X + lv1Y * _j18.lin1Y + lv1Z * _j18.lin1Z;
          _rv -= lv2X * _j18.lin2X + lv2Y * _j18.lin2Y + lv2Z * _j18.lin2Z;
          _rv += av1X * _j18.ang1X + av1Y * _j18.ang1Y + av1Z * _j18.ang1Z;
          _rv -= av2X * _j18.ang2X + av2Y * _j18.ang2Y + av2Z * _j18.ang2Z;
          var impulse = (_row20.rhs - _rv - _imp5.impulse * _row20.cfm) * _md3.mass;
          var oldImpulse = _imp5.impulse;
          _imp5.impulse += impulse;

          if (_imp5.impulse < _row20.minImpulse) {
            _imp5.impulse = _row20.minImpulse;
          } else if (_imp5.impulse > _row20.maxImpulse) {
            _imp5.impulse = _row20.maxImpulse;
          }

          impulse = _imp5.impulse - oldImpulse;

          if ((_j18.flag & 1) != 0) {
            lv1X += _md3.invMLin1X * impulse;
            lv1Y += _md3.invMLin1Y * impulse;
            lv1Z += _md3.invMLin1Z * impulse;
            lv2X += _md3.invMLin2X * -impulse;
            lv2Y += _md3.invMLin2Y * -impulse;
            lv2Z += _md3.invMLin2Z * -impulse;
          }

          if ((_j18.flag & 2) != 0) {
            av1X += _md3.invMAng1X * impulse;
            av1Y += _md3.invMAng1Y * impulse;
            av1Z += _md3.invMAng1Z * impulse;
            av2X += _md3.invMAng2X * -impulse;
            av2Y += _md3.invMAng2Y * -impulse;
            av2Z += _md3.invMAng2Z * -impulse;
          }
        }

        this._b1._velX = lv1X;
        this._b1._velY = lv1Y;
        this._b1._velZ = lv1Z;
        this._b2._velX = lv2X;
        this._b2._velY = lv2Y;
        this._b2._velZ = lv2Z;
        this._b1._angVelX = av1X;
        this._b1._angVelY = av1Y;
        this._b1._angVelZ = av1Z;
        this._b2._angVelX = av2X;
        this._b2._angVelY = av2Y;
        this._b2._angVelZ = av2Z;
      }
    }, {
      key: "postSolveVelocity",
      value: function postSolveVelocity(timeStep) {
        var linX;
        var linY;
        var linZ;
        var angX;
        var angY;
        var angZ;
        linX = 0;
        linY = 0;
        linZ = 0;
        angX = 0;
        angY = 0;
        angZ = 0;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var row = this.info.rows[_g++];
          var imp = row.impulse;
          var j = row.jacobian;

          if ((j.flag & 1) != 0) {
            linX += j.lin1X * imp.impulse;
            linY += j.lin1Y * imp.impulse;
            linZ += j.lin1Z * imp.impulse;
          } else if ((j.flag & 2) != 0) {
            angX += j.ang1X * imp.impulse;
            angY += j.ang1Y * imp.impulse;
            angZ += j.ang1Z * imp.impulse;
          }
        }

        this.joint._appliedForceX = linX * timeStep.invDt;
        this.joint._appliedForceY = linY * timeStep.invDt;
        this.joint._appliedForceZ = linZ * timeStep.invDt;
        this.joint._appliedTorqueX = angX * timeStep.invDt;
        this.joint._appliedTorqueY = angY * timeStep.invDt;
        this.joint._appliedTorqueZ = angZ * timeStep.invDt;
      }
    }, {
      key: "preSolvePosition",
      value: function preSolvePosition(timeStep) {
        this.joint._syncAnchors();

        this.joint._getPositionSolverInfo(this.info);

        this._b1 = this.info.b1;
        this._b2 = this.info.b2;
        var invM1 = this._b1._invMass;
        var invM2 = this._b2._invMass;
        var invI100;
        var invI101;
        var invI102;
        var invI110;
        var invI111;
        var invI112;
        var invI120;
        var invI121;
        var invI122;
        var invI200;
        var invI201;
        var invI202;
        var invI210;
        var invI211;
        var invI212;
        var invI220;
        var invI221;
        var invI222;
        invI100 = this._b1._invInertia00;
        invI101 = this._b1._invInertia01;
        invI102 = this._b1._invInertia02;
        invI110 = this._b1._invInertia10;
        invI111 = this._b1._invInertia11;
        invI112 = this._b1._invInertia12;
        invI120 = this._b1._invInertia20;
        invI121 = this._b1._invInertia21;
        invI122 = this._b1._invInertia22;
        invI200 = this._b2._invInertia00;
        invI201 = this._b2._invInertia01;
        invI202 = this._b2._invInertia02;
        invI210 = this._b2._invInertia10;
        invI211 = this._b2._invInertia11;
        invI212 = this._b2._invInertia12;
        invI220 = this._b2._invInertia20;
        invI221 = this._b2._invInertia21;
        invI222 = this._b2._invInertia22;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var md = this.massData[i];
          var j = this.info.rows[i].jacobian;
          md.invMLin1X = j.lin1X * invM1;
          md.invMLin1Y = j.lin1Y * invM1;
          md.invMLin1Z = j.lin1Z * invM1;
          md.invMLin2X = j.lin2X * invM2;
          md.invMLin2Y = j.lin2Y * invM2;
          md.invMLin2Z = j.lin2Z * invM2;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
          __tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
          __tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
          md.invMAng1X = __tmp__X;
          md.invMAng1Y = __tmp__Y;
          md.invMAng1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
          __tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
          __tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
          md.invMAng2X = __tmp__X1;
          md.invMAng2Y = __tmp__Y1;
          md.invMAng2Z = __tmp__Z1;
          md.mass = md.invMLin1X * j.lin1X + md.invMLin1Y * j.lin1Y + md.invMLin1Z * j.lin1Z + (md.invMLin2X * j.lin2X + md.invMLin2Y * j.lin2Y + md.invMLin2Z * j.lin2Z) + (md.invMAng1X * j.ang1X + md.invMAng1Y * j.ang1Y + md.invMAng1Z * j.ang1Z) + (md.invMAng2X * j.ang2X + md.invMAng2Y * j.ang2Y + md.invMAng2Z * j.ang2Z);

          if (md.mass != 0) {
            md.mass = 1 / md.mass;
          }
        }

        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          this.info.rows[_g2++].impulse.impulseP = 0;
        }
      }
    }, {
      key: "solvePositionSplitImpulse",
      value: function solvePositionSplitImpulse() {
        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = this._b1._pseudoVelX;
        lv1Y = this._b1._pseudoVelY;
        lv1Z = this._b1._pseudoVelZ;
        lv2X = this._b2._pseudoVelX;
        lv2Y = this._b2._pseudoVelY;
        lv2Z = this._b2._pseudoVelZ;
        av1X = this._b1._angPseudoVelX;
        av1Y = this._b1._angPseudoVelY;
        av1Z = this._b1._angPseudoVelZ;
        av2X = this._b2._angPseudoVelX;
        av2Y = this._b2._angPseudoVelY;
        av2Z = this._b2._angPseudoVelZ;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var row = this.info.rows[i];
          var md = this.massData[i];
          var imp = row.impulse;
          var j = row.jacobian;
          var rv = 0;
          rv += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
          rv -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
          rv += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
          rv -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
          var impulseP = (row.rhs * oimo.common.Setting.positionSplitImpulseBaumgarte - rv) * md.mass;
          var oldImpulseP = imp.impulseP;
          imp.impulseP += impulseP;

          if (imp.impulseP < row.minImpulse) {
            imp.impulseP = row.minImpulse;
          } else if (imp.impulseP > row.maxImpulse) {
            imp.impulseP = row.maxImpulse;
          }

          impulseP = imp.impulseP - oldImpulseP;
          lv1X += md.invMLin1X * impulseP;
          lv1Y += md.invMLin1Y * impulseP;
          lv1Z += md.invMLin1Z * impulseP;
          lv2X += md.invMLin2X * -impulseP;
          lv2Y += md.invMLin2Y * -impulseP;
          lv2Z += md.invMLin2Z * -impulseP;
          av1X += md.invMAng1X * impulseP;
          av1Y += md.invMAng1Y * impulseP;
          av1Z += md.invMAng1Z * impulseP;
          av2X += md.invMAng2X * -impulseP;
          av2Y += md.invMAng2Y * -impulseP;
          av2Z += md.invMAng2Z * -impulseP;
        }

        this._b1._pseudoVelX = lv1X;
        this._b1._pseudoVelY = lv1Y;
        this._b1._pseudoVelZ = lv1Z;
        this._b2._pseudoVelX = lv2X;
        this._b2._pseudoVelY = lv2Y;
        this._b2._pseudoVelZ = lv2Z;
        this._b1._angPseudoVelX = av1X;
        this._b1._angPseudoVelY = av1Y;
        this._b1._angPseudoVelZ = av1Z;
        this._b2._angPseudoVelX = av2X;
        this._b2._angPseudoVelY = av2Y;
        this._b2._angPseudoVelZ = av2Z;
      }
    }, {
      key: "solvePositionNgs",
      value: function solvePositionNgs(timeStep) {
        this.joint._syncAnchors();

        this.joint._getPositionSolverInfo(this.info);

        this._b1 = this.info.b1;
        this._b2 = this.info.b2;
        var invM1 = this._b1._invMass;
        var invM2 = this._b2._invMass;
        var invI100;
        var invI101;
        var invI102;
        var invI110;
        var invI111;
        var invI112;
        var invI120;
        var invI121;
        var invI122;
        var invI200;
        var invI201;
        var invI202;
        var invI210;
        var invI211;
        var invI212;
        var invI220;
        var invI221;
        var invI222;
        invI100 = this._b1._invInertia00;
        invI101 = this._b1._invInertia01;
        invI102 = this._b1._invInertia02;
        invI110 = this._b1._invInertia10;
        invI111 = this._b1._invInertia11;
        invI112 = this._b1._invInertia12;
        invI120 = this._b1._invInertia20;
        invI121 = this._b1._invInertia21;
        invI122 = this._b1._invInertia22;
        invI200 = this._b2._invInertia00;
        invI201 = this._b2._invInertia01;
        invI202 = this._b2._invInertia02;
        invI210 = this._b2._invInertia10;
        invI211 = this._b2._invInertia11;
        invI212 = this._b2._invInertia12;
        invI220 = this._b2._invInertia20;
        invI221 = this._b2._invInertia21;
        invI222 = this._b2._invInertia22;
        var _g = 0;
        var _g1 = this.info.numRows;

        while (_g < _g1) {
          var i = _g++;
          var md = this.massData[i];
          var j = this.info.rows[i].jacobian;
          md.invMLin1X = j.lin1X * invM1;
          md.invMLin1Y = j.lin1Y * invM1;
          md.invMLin1Z = j.lin1Z * invM1;
          md.invMLin2X = j.lin2X * invM2;
          md.invMLin2Y = j.lin2Y * invM2;
          md.invMLin2Z = j.lin2Z * invM2;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
          __tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
          __tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
          md.invMAng1X = __tmp__X;
          md.invMAng1Y = __tmp__Y;
          md.invMAng1Z = __tmp__Z;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
          __tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
          __tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
          md.invMAng2X = __tmp__X1;
          md.invMAng2Y = __tmp__Y1;
          md.invMAng2Z = __tmp__Z1;
          md.mass = md.invMLin1X * j.lin1X + md.invMLin1Y * j.lin1Y + md.invMLin1Z * j.lin1Z + (md.invMLin2X * j.lin2X + md.invMLin2Y * j.lin2Y + md.invMLin2Z * j.lin2Z) + (md.invMAng1X * j.ang1X + md.invMAng1Y * j.ang1Y + md.invMAng1Z * j.ang1Z) + (md.invMAng2X * j.ang2X + md.invMAng2Y * j.ang2Y + md.invMAng2Z * j.ang2Z);

          if (md.mass != 0) {
            md.mass = 1 / md.mass;
          }
        }

        var lv1X;
        var lv1Y;
        var lv1Z;
        var lv2X;
        var lv2Y;
        var lv2Z;
        var av1X;
        var av1Y;
        var av1Z;
        var av2X;
        var av2Y;
        var av2Z;
        lv1X = 0;
        lv1Y = 0;
        lv1Z = 0;
        lv2X = 0;
        lv2Y = 0;
        lv2Z = 0;
        av1X = 0;
        av1Y = 0;
        av1Z = 0;
        av2X = 0;
        av2Y = 0;
        av2Z = 0;
        var _g2 = 0;
        var _g3 = this.info.numRows;

        while (_g2 < _g3) {
          var _i156 = _g2++;

          var row = this.info.rows[_i156];
          var _md4 = this.massData[_i156];
          var imp = row.impulse;
          var _j19 = row.jacobian;
          var rv = 0;
          rv += lv1X * _j19.lin1X + lv1Y * _j19.lin1Y + lv1Z * _j19.lin1Z;
          rv -= lv2X * _j19.lin2X + lv2Y * _j19.lin2Y + lv2Z * _j19.lin2Z;
          rv += av1X * _j19.ang1X + av1Y * _j19.ang1Y + av1Z * _j19.ang1Z;
          rv -= av2X * _j19.ang2X + av2Y * _j19.ang2Y + av2Z * _j19.ang2Z;
          var impulseP = (row.rhs * oimo.common.Setting.positionNgsBaumgarte - rv) * _md4.mass;
          var oldImpulseP = imp.impulseP;
          imp.impulseP += impulseP;

          if (imp.impulseP < row.minImpulse) {
            imp.impulseP = row.minImpulse;
          } else if (imp.impulseP > row.maxImpulse) {
            imp.impulseP = row.maxImpulse;
          }

          impulseP = imp.impulseP - oldImpulseP;
          lv1X += _md4.invMLin1X * impulseP;
          lv1Y += _md4.invMLin1Y * impulseP;
          lv1Z += _md4.invMLin1Z * impulseP;
          lv2X += _md4.invMLin2X * -impulseP;
          lv2Y += _md4.invMLin2Y * -impulseP;
          lv2Z += _md4.invMLin2Z * -impulseP;
          av1X += _md4.invMAng1X * impulseP;
          av1Y += _md4.invMAng1Y * impulseP;
          av1Z += _md4.invMAng1Z * impulseP;
          av2X += _md4.invMAng2X * -impulseP;
          av2Y += _md4.invMAng2Y * -impulseP;
          av2Z += _md4.invMAng2Z * -impulseP;
        }

        var _this = this._b1;
        _this._transform._positionX += lv1X;
        _this._transform._positionY += lv1Y;
        _this._transform._positionZ += lv1Z;
        var _this1 = this._b2;
        _this1._transform._positionX += lv2X;
        _this1._transform._positionY += lv2Y;
        _this1._transform._positionZ += lv2Z;
        var _this2 = this._b1;
        var theta = Math.sqrt(av1X * av1X + av1Y * av1Y + av1Z * av1Z);
        var halfTheta = theta * 0.5;
        var rotationToSinAxisFactor;
        var cosHalfTheta;

        if (halfTheta < 0.5) {
          var ht2 = halfTheta * halfTheta;
          rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
          cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
        } else {
          rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
          cosHalfTheta = Math.cos(halfTheta);
        }

        var sinAxisX;
        var sinAxisY;
        var sinAxisZ;
        sinAxisX = av1X * rotationToSinAxisFactor;
        sinAxisY = av1Y * rotationToSinAxisFactor;
        sinAxisZ = av1Z * rotationToSinAxisFactor;
        var dqX;
        var dqY;
        var dqZ;
        var dqW;
        dqX = sinAxisX;
        dqY = sinAxisY;
        dqZ = sinAxisZ;
        dqW = cosHalfTheta;
        var qX;
        var qY;
        var qZ;
        var qW;
        var e00 = _this2._transform._rotation00;
        var e11 = _this2._transform._rotation11;
        var e22 = _this2._transform._rotation22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          qW = 0.5 * s;
          s = 0.5 / s;
          qX = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
          qY = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
          qZ = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            qX = 0.5 * s;
            s = 0.5 / s;
            qY = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
            qZ = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
            qW = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            qZ = 0.5 * s;
            s = 0.5 / s;
            qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
            qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
            qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          qY = 0.5 * s;
          s = 0.5 / s;
          qX = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
          qZ = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
          qW = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          qZ = 0.5 * s;
          s = 0.5 / s;
          qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
          qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
          qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
        }

        qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
        qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
        qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
        qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
        var l = qX * qX + qY * qY + qZ * qZ + qW * qW;

        if (l > 1e-32) {
          l = 1 / Math.sqrt(l);
        }

        qX *= l;
        qY *= l;
        qZ *= l;
        qW *= l;
        var x = qX;
        var y = qY;
        var z = qZ;
        var w = qW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        _this2._transform._rotation00 = 1 - yy - zz;
        _this2._transform._rotation01 = xy - wz;
        _this2._transform._rotation02 = xz + wy;
        _this2._transform._rotation10 = xy + wz;
        _this2._transform._rotation11 = 1 - xx - zz;
        _this2._transform._rotation12 = yz - wx;
        _this2._transform._rotation20 = xz - wy;
        _this2._transform._rotation21 = yz + wx;
        _this2._transform._rotation22 = 1 - xx - yy;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = _this2._transform._rotation00 * _this2._invLocalInertia00 + _this2._transform._rotation01 * _this2._invLocalInertia10 + _this2._transform._rotation02 * _this2._invLocalInertia20;
        __tmp__01 = _this2._transform._rotation00 * _this2._invLocalInertia01 + _this2._transform._rotation01 * _this2._invLocalInertia11 + _this2._transform._rotation02 * _this2._invLocalInertia21;
        __tmp__02 = _this2._transform._rotation00 * _this2._invLocalInertia02 + _this2._transform._rotation01 * _this2._invLocalInertia12 + _this2._transform._rotation02 * _this2._invLocalInertia22;
        __tmp__10 = _this2._transform._rotation10 * _this2._invLocalInertia00 + _this2._transform._rotation11 * _this2._invLocalInertia10 + _this2._transform._rotation12 * _this2._invLocalInertia20;
        __tmp__11 = _this2._transform._rotation10 * _this2._invLocalInertia01 + _this2._transform._rotation11 * _this2._invLocalInertia11 + _this2._transform._rotation12 * _this2._invLocalInertia21;
        __tmp__12 = _this2._transform._rotation10 * _this2._invLocalInertia02 + _this2._transform._rotation11 * _this2._invLocalInertia12 + _this2._transform._rotation12 * _this2._invLocalInertia22;
        __tmp__20 = _this2._transform._rotation20 * _this2._invLocalInertia00 + _this2._transform._rotation21 * _this2._invLocalInertia10 + _this2._transform._rotation22 * _this2._invLocalInertia20;
        __tmp__21 = _this2._transform._rotation20 * _this2._invLocalInertia01 + _this2._transform._rotation21 * _this2._invLocalInertia11 + _this2._transform._rotation22 * _this2._invLocalInertia21;
        __tmp__22 = _this2._transform._rotation20 * _this2._invLocalInertia02 + _this2._transform._rotation21 * _this2._invLocalInertia12 + _this2._transform._rotation22 * _this2._invLocalInertia22;
        _this2._invInertia00 = __tmp__00;
        _this2._invInertia01 = __tmp__01;
        _this2._invInertia02 = __tmp__02;
        _this2._invInertia10 = __tmp__10;
        _this2._invInertia11 = __tmp__11;
        _this2._invInertia12 = __tmp__12;
        _this2._invInertia20 = __tmp__20;
        _this2._invInertia21 = __tmp__21;
        _this2._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = _this2._invInertia00 * _this2._transform._rotation00 + _this2._invInertia01 * _this2._transform._rotation01 + _this2._invInertia02 * _this2._transform._rotation02;
        __tmp__011 = _this2._invInertia00 * _this2._transform._rotation10 + _this2._invInertia01 * _this2._transform._rotation11 + _this2._invInertia02 * _this2._transform._rotation12;
        __tmp__021 = _this2._invInertia00 * _this2._transform._rotation20 + _this2._invInertia01 * _this2._transform._rotation21 + _this2._invInertia02 * _this2._transform._rotation22;
        __tmp__101 = _this2._invInertia10 * _this2._transform._rotation00 + _this2._invInertia11 * _this2._transform._rotation01 + _this2._invInertia12 * _this2._transform._rotation02;
        __tmp__111 = _this2._invInertia10 * _this2._transform._rotation10 + _this2._invInertia11 * _this2._transform._rotation11 + _this2._invInertia12 * _this2._transform._rotation12;
        __tmp__121 = _this2._invInertia10 * _this2._transform._rotation20 + _this2._invInertia11 * _this2._transform._rotation21 + _this2._invInertia12 * _this2._transform._rotation22;
        __tmp__201 = _this2._invInertia20 * _this2._transform._rotation00 + _this2._invInertia21 * _this2._transform._rotation01 + _this2._invInertia22 * _this2._transform._rotation02;
        __tmp__211 = _this2._invInertia20 * _this2._transform._rotation10 + _this2._invInertia21 * _this2._transform._rotation11 + _this2._invInertia22 * _this2._transform._rotation12;
        __tmp__221 = _this2._invInertia20 * _this2._transform._rotation20 + _this2._invInertia21 * _this2._transform._rotation21 + _this2._invInertia22 * _this2._transform._rotation22;
        _this2._invInertia00 = __tmp__001;
        _this2._invInertia01 = __tmp__011;
        _this2._invInertia02 = __tmp__021;
        _this2._invInertia10 = __tmp__101;
        _this2._invInertia11 = __tmp__111;
        _this2._invInertia12 = __tmp__121;
        _this2._invInertia20 = __tmp__201;
        _this2._invInertia21 = __tmp__211;
        _this2._invInertia22 = __tmp__221;
        _this2._invInertia00 *= _this2._rotFactor.x;
        _this2._invInertia01 *= _this2._rotFactor.x;
        _this2._invInertia02 *= _this2._rotFactor.x;
        _this2._invInertia10 *= _this2._rotFactor.y;
        _this2._invInertia11 *= _this2._rotFactor.y;
        _this2._invInertia12 *= _this2._rotFactor.y;
        _this2._invInertia20 *= _this2._rotFactor.z;
        _this2._invInertia21 *= _this2._rotFactor.z;
        _this2._invInertia22 *= _this2._rotFactor.z;
        var _this3 = this._b2;
        var theta1 = Math.sqrt(av2X * av2X + av2Y * av2Y + av2Z * av2Z);
        var halfTheta1 = theta1 * 0.5;
        var rotationToSinAxisFactor1;
        var cosHalfTheta1;

        if (halfTheta1 < 0.5) {
          var _ht3 = halfTheta1 * halfTheta1;

          rotationToSinAxisFactor1 = 0.5 * (1 - _ht3 * 0.16666666666666666 + _ht3 * _ht3 * 0.0083333333333333332);
          cosHalfTheta1 = 1 - _ht3 * 0.5 + _ht3 * _ht3 * 0.041666666666666664;
        } else {
          rotationToSinAxisFactor1 = Math.sin(halfTheta1) / theta1;
          cosHalfTheta1 = Math.cos(halfTheta1);
        }

        var sinAxisX1;
        var sinAxisY1;
        var sinAxisZ1;
        sinAxisX1 = av2X * rotationToSinAxisFactor1;
        sinAxisY1 = av2Y * rotationToSinAxisFactor1;
        sinAxisZ1 = av2Z * rotationToSinAxisFactor1;
        var dqX1;
        var dqY1;
        var dqZ1;
        var dqW1;
        dqX1 = sinAxisX1;
        dqY1 = sinAxisY1;
        dqZ1 = sinAxisZ1;
        dqW1 = cosHalfTheta1;
        var qX1;
        var qY1;
        var qZ1;
        var qW1;
        var e001 = _this3._transform._rotation00;
        var e111 = _this3._transform._rotation11;
        var e221 = _this3._transform._rotation22;
        var t1 = e001 + e111 + e221;
        var s1;

        if (t1 > 0) {
          s1 = Math.sqrt(t1 + 1);
          qW1 = 0.5 * s1;
          s1 = 0.5 / s1;
          qX1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
          qY1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
          qZ1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
        } else if (e001 > e111) {
          if (e001 > e221) {
            s1 = Math.sqrt(e001 - e111 - e221 + 1);
            qX1 = 0.5 * s1;
            s1 = 0.5 / s1;
            qY1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
            qZ1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
            qW1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
          } else {
            s1 = Math.sqrt(e221 - e001 - e111 + 1);
            qZ1 = 0.5 * s1;
            s1 = 0.5 / s1;
            qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
            qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
            qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
          }
        } else if (e111 > e221) {
          s1 = Math.sqrt(e111 - e221 - e001 + 1);
          qY1 = 0.5 * s1;
          s1 = 0.5 / s1;
          qX1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
          qZ1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
          qW1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
        } else {
          s1 = Math.sqrt(e221 - e001 - e111 + 1);
          qZ1 = 0.5 * s1;
          s1 = 0.5 / s1;
          qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
          qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
          qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
        }

        qX1 = dqW1 * qX1 + dqX1 * qW1 + dqY1 * qZ1 - dqZ1 * qY1;
        qY1 = dqW1 * qY1 - dqX1 * qZ1 + dqY1 * qW1 + dqZ1 * qX1;
        qZ1 = dqW1 * qZ1 + dqX1 * qY1 - dqY1 * qX1 + dqZ1 * qW1;
        qW1 = dqW1 * qW1 - dqX1 * qX1 - dqY1 * qY1 - dqZ1 * qZ1;
        var l1 = qX1 * qX1 + qY1 * qY1 + qZ1 * qZ1 + qW1 * qW1;

        if (l1 > 1e-32) {
          l1 = 1 / Math.sqrt(l1);
        }

        qX1 *= l1;
        qY1 *= l1;
        qZ1 *= l1;
        qW1 *= l1;
        var x1 = qX1;
        var y1 = qY1;
        var z1 = qZ1;
        var w1 = qW1;
        var x21 = 2 * x1;
        var y21 = 2 * y1;
        var z21 = 2 * z1;
        var xx1 = x1 * x21;
        var yy1 = y1 * y21;
        var zz1 = z1 * z21;
        var xy1 = x1 * y21;
        var yz1 = y1 * z21;
        var xz1 = x1 * z21;
        var wx1 = w1 * x21;
        var wy1 = w1 * y21;
        var wz1 = w1 * z21;
        _this3._transform._rotation00 = 1 - yy1 - zz1;
        _this3._transform._rotation01 = xy1 - wz1;
        _this3._transform._rotation02 = xz1 + wy1;
        _this3._transform._rotation10 = xy1 + wz1;
        _this3._transform._rotation11 = 1 - xx1 - zz1;
        _this3._transform._rotation12 = yz1 - wx1;
        _this3._transform._rotation20 = xz1 - wy1;
        _this3._transform._rotation21 = yz1 + wx1;
        _this3._transform._rotation22 = 1 - xx1 - yy1;

        var __tmp__002;

        var __tmp__012;

        var __tmp__022;

        var __tmp__102;

        var __tmp__112;

        var __tmp__122;

        var __tmp__202;

        var __tmp__212;

        var __tmp__222;

        __tmp__002 = _this3._transform._rotation00 * _this3._invLocalInertia00 + _this3._transform._rotation01 * _this3._invLocalInertia10 + _this3._transform._rotation02 * _this3._invLocalInertia20;
        __tmp__012 = _this3._transform._rotation00 * _this3._invLocalInertia01 + _this3._transform._rotation01 * _this3._invLocalInertia11 + _this3._transform._rotation02 * _this3._invLocalInertia21;
        __tmp__022 = _this3._transform._rotation00 * _this3._invLocalInertia02 + _this3._transform._rotation01 * _this3._invLocalInertia12 + _this3._transform._rotation02 * _this3._invLocalInertia22;
        __tmp__102 = _this3._transform._rotation10 * _this3._invLocalInertia00 + _this3._transform._rotation11 * _this3._invLocalInertia10 + _this3._transform._rotation12 * _this3._invLocalInertia20;
        __tmp__112 = _this3._transform._rotation10 * _this3._invLocalInertia01 + _this3._transform._rotation11 * _this3._invLocalInertia11 + _this3._transform._rotation12 * _this3._invLocalInertia21;
        __tmp__122 = _this3._transform._rotation10 * _this3._invLocalInertia02 + _this3._transform._rotation11 * _this3._invLocalInertia12 + _this3._transform._rotation12 * _this3._invLocalInertia22;
        __tmp__202 = _this3._transform._rotation20 * _this3._invLocalInertia00 + _this3._transform._rotation21 * _this3._invLocalInertia10 + _this3._transform._rotation22 * _this3._invLocalInertia20;
        __tmp__212 = _this3._transform._rotation20 * _this3._invLocalInertia01 + _this3._transform._rotation21 * _this3._invLocalInertia11 + _this3._transform._rotation22 * _this3._invLocalInertia21;
        __tmp__222 = _this3._transform._rotation20 * _this3._invLocalInertia02 + _this3._transform._rotation21 * _this3._invLocalInertia12 + _this3._transform._rotation22 * _this3._invLocalInertia22;
        _this3._invInertia00 = __tmp__002;
        _this3._invInertia01 = __tmp__012;
        _this3._invInertia02 = __tmp__022;
        _this3._invInertia10 = __tmp__102;
        _this3._invInertia11 = __tmp__112;
        _this3._invInertia12 = __tmp__122;
        _this3._invInertia20 = __tmp__202;
        _this3._invInertia21 = __tmp__212;
        _this3._invInertia22 = __tmp__222;

        var __tmp__003;

        var __tmp__013;

        var __tmp__023;

        var __tmp__103;

        var __tmp__113;

        var __tmp__123;

        var __tmp__203;

        var __tmp__213;

        var __tmp__223;

        __tmp__003 = _this3._invInertia00 * _this3._transform._rotation00 + _this3._invInertia01 * _this3._transform._rotation01 + _this3._invInertia02 * _this3._transform._rotation02;
        __tmp__013 = _this3._invInertia00 * _this3._transform._rotation10 + _this3._invInertia01 * _this3._transform._rotation11 + _this3._invInertia02 * _this3._transform._rotation12;
        __tmp__023 = _this3._invInertia00 * _this3._transform._rotation20 + _this3._invInertia01 * _this3._transform._rotation21 + _this3._invInertia02 * _this3._transform._rotation22;
        __tmp__103 = _this3._invInertia10 * _this3._transform._rotation00 + _this3._invInertia11 * _this3._transform._rotation01 + _this3._invInertia12 * _this3._transform._rotation02;
        __tmp__113 = _this3._invInertia10 * _this3._transform._rotation10 + _this3._invInertia11 * _this3._transform._rotation11 + _this3._invInertia12 * _this3._transform._rotation12;
        __tmp__123 = _this3._invInertia10 * _this3._transform._rotation20 + _this3._invInertia11 * _this3._transform._rotation21 + _this3._invInertia12 * _this3._transform._rotation22;
        __tmp__203 = _this3._invInertia20 * _this3._transform._rotation00 + _this3._invInertia21 * _this3._transform._rotation01 + _this3._invInertia22 * _this3._transform._rotation02;
        __tmp__213 = _this3._invInertia20 * _this3._transform._rotation10 + _this3._invInertia21 * _this3._transform._rotation11 + _this3._invInertia22 * _this3._transform._rotation12;
        __tmp__223 = _this3._invInertia20 * _this3._transform._rotation20 + _this3._invInertia21 * _this3._transform._rotation21 + _this3._invInertia22 * _this3._transform._rotation22;
        _this3._invInertia00 = __tmp__003;
        _this3._invInertia01 = __tmp__013;
        _this3._invInertia02 = __tmp__023;
        _this3._invInertia10 = __tmp__103;
        _this3._invInertia11 = __tmp__113;
        _this3._invInertia12 = __tmp__123;
        _this3._invInertia20 = __tmp__203;
        _this3._invInertia21 = __tmp__213;
        _this3._invInertia22 = __tmp__223;
        _this3._invInertia00 *= _this3._rotFactor.x;
        _this3._invInertia01 *= _this3._rotFactor.x;
        _this3._invInertia02 *= _this3._rotFactor.x;
        _this3._invInertia10 *= _this3._rotFactor.y;
        _this3._invInertia11 *= _this3._rotFactor.y;
        _this3._invInertia12 *= _this3._rotFactor.y;
        _this3._invInertia20 *= _this3._rotFactor.z;
        _this3._invInertia21 *= _this3._rotFactor.z;
        _this3._invInertia22 *= _this3._rotFactor.z;
      }
    }, {
      key: "postSolve",
      value: function postSolve() {
        this.joint._syncAnchors();

        this.joint._checkDestruction();
      }
    }]);

    return oimo_dynamics_constraint_solver_pgs_PgsJointConstraintSolver;
  }(oimo.dynamics.constraint.ConstraintSolver);

  if (!oimo.dynamics.rigidbody) oimo.dynamics.rigidbody = {};
  oimo.dynamics.rigidbody.MassData = /*#__PURE__*/_createClass(function oimo_dynamics_rigidbody_MassData() {
    _classCallCheck(this, oimo_dynamics_rigidbody_MassData);

    this.mass = 0;
    this.localInertia = new oimo.common.Mat3();
  });

  oimo.dynamics.rigidbody.RigidBody = /*#__PURE__*/function () {
    function oimo_dynamics_rigidbody_RigidBody(config) {
      _classCallCheck(this, oimo_dynamics_rigidbody_RigidBody);

      this._next = null;
      this._prev = null;
      this._shapeList = null;
      this._shapeListLast = null;
      this._numShapes = 0;
      this._contactLinkList = null;
      this._contactLinkListLast = null;
      this._numContactLinks = 0;
      this._jointLinkList = null;
      this._jointLinkListLast = null;
      this._numJointLinks = 0;
      var v = config.linearVelocity;
      this._velX = v.x;
      this._velY = v.y;
      this._velZ = v.z;
      var v1 = config.angularVelocity;
      this._angVelX = v1.x;
      this._angVelY = v1.y;
      this._angVelZ = v1.z;
      this._pseudoVelX = 0;
      this._pseudoVelY = 0;
      this._pseudoVelZ = 0;
      this._angPseudoVelX = 0;
      this._angPseudoVelY = 0;
      this._angPseudoVelZ = 0;
      this._ptransform = new oimo.common.Transform();
      this._transform = new oimo.common.Transform();
      var v2 = config.position;
      this._ptransform._positionX = v2.x;
      this._ptransform._positionY = v2.y;
      this._ptransform._positionZ = v2.z;
      var m = config.rotation;
      this._ptransform._rotation00 = m.e00;
      this._ptransform._rotation01 = m.e01;
      this._ptransform._rotation02 = m.e02;
      this._ptransform._rotation10 = m.e10;
      this._ptransform._rotation11 = m.e11;
      this._ptransform._rotation12 = m.e12;
      this._ptransform._rotation20 = m.e20;
      this._ptransform._rotation21 = m.e21;
      this._ptransform._rotation22 = m.e22;
      var dst = this._transform;
      var src = this._ptransform;
      dst._positionX = src._positionX;
      dst._positionY = src._positionY;
      dst._positionZ = src._positionZ;
      dst._rotation00 = src._rotation00;
      dst._rotation01 = src._rotation01;
      dst._rotation02 = src._rotation02;
      dst._rotation10 = src._rotation10;
      dst._rotation11 = src._rotation11;
      dst._rotation12 = src._rotation12;
      dst._rotation20 = src._rotation20;
      dst._rotation21 = src._rotation21;
      dst._rotation22 = src._rotation22;
      this._type = config.type;
      this._sleepTime = 0;
      this._sleeping = false;
      this._autoSleep = config.autoSleep;
      this._mass = 0;
      this._invMass = 0;
      this._localInertia00 = 0;
      this._localInertia01 = 0;
      this._localInertia02 = 0;
      this._localInertia10 = 0;
      this._localInertia11 = 0;
      this._localInertia12 = 0;
      this._localInertia20 = 0;
      this._localInertia21 = 0;
      this._localInertia22 = 0;
      this._invLocalInertia00 = 0;
      this._invLocalInertia01 = 0;
      this._invLocalInertia02 = 0;
      this._invLocalInertia10 = 0;
      this._invLocalInertia11 = 0;
      this._invLocalInertia12 = 0;
      this._invLocalInertia20 = 0;
      this._invLocalInertia21 = 0;
      this._invLocalInertia22 = 0;
      this._invLocalInertiaWithoutRotFactor00 = 0;
      this._invLocalInertiaWithoutRotFactor01 = 0;
      this._invLocalInertiaWithoutRotFactor02 = 0;
      this._invLocalInertiaWithoutRotFactor10 = 0;
      this._invLocalInertiaWithoutRotFactor11 = 0;
      this._invLocalInertiaWithoutRotFactor12 = 0;
      this._invLocalInertiaWithoutRotFactor20 = 0;
      this._invLocalInertiaWithoutRotFactor21 = 0;
      this._invLocalInertiaWithoutRotFactor22 = 0;
      this._invInertia00 = 0;
      this._invInertia01 = 0;
      this._invInertia02 = 0;
      this._invInertia10 = 0;
      this._invInertia11 = 0;
      this._invInertia12 = 0;
      this._invInertia20 = 0;
      this._invInertia21 = 0;
      this._invInertia22 = 0;
      this._linearDamping = config.linearDamping;
      this._angularDamping = config.angularDamping;
      this._forceX = 0;
      this._forceY = 0;
      this._forceZ = 0;
      this._torqueX = 0;
      this._torqueY = 0;
      this._torqueZ = 0;
      this._linearContactImpulseX = 0;
      this._linearContactImpulseY = 0;
      this._linearContactImpulseZ = 0;
      this._angularContactImpulseX = 0;
      this._angularContactImpulseY = 0;
      this._angularContactImpulseZ = 0;
      this._rotFactor = new oimo.common.Vec3(1, 1, 1);
      this._addedToIsland = false;
      this._gravityScale = 1;
      this._world = null;
    }

    _createClass(oimo_dynamics_rigidbody_RigidBody, [{
      key: "_integrate",
      value: function _integrate(dt) {
        switch (this._type) {
          case 1:
            this._velX = 0;
            this._velY = 0;
            this._velZ = 0;
            this._angVelX = 0;
            this._angVelY = 0;
            this._angVelZ = 0;
            this._pseudoVelX = 0;
            this._pseudoVelY = 0;
            this._pseudoVelZ = 0;
            this._angPseudoVelX = 0;
            this._angPseudoVelY = 0;
            this._angPseudoVelZ = 0;
            break;

          case 0:
          case 2:
            var translationX;
            var translationY;
            var translationZ;
            var rotationX;
            var rotationY;
            var rotationZ;
            translationX = this._velX * dt;
            translationY = this._velY * dt;
            translationZ = this._velZ * dt;
            rotationX = this._angVelX * dt;
            rotationY = this._angVelY * dt;
            rotationZ = this._angVelZ * dt;
            var translationLengthSq = translationX * translationX + translationY * translationY + translationZ * translationZ;
            var rotationLengthSq = rotationX * rotationX + rotationY * rotationY + rotationZ * rotationZ;

            if (translationLengthSq == 0 && rotationLengthSq == 0) {
              return;
            }

            if (translationLengthSq > oimo.common.Setting.maxTranslationPerStep * oimo.common.Setting.maxTranslationPerStep) {
              var _l47 = oimo.common.Setting.maxTranslationPerStep / Math.sqrt(translationLengthSq);

              this._velX *= _l47;
              this._velY *= _l47;
              this._velZ *= _l47;
              translationX *= _l47;
              translationY *= _l47;
              translationZ *= _l47;
            }

            if (rotationLengthSq > oimo.common.Setting.maxRotationPerStep * oimo.common.Setting.maxRotationPerStep) {
              var _l48 = oimo.common.Setting.maxRotationPerStep / Math.sqrt(rotationLengthSq);

              this._angVelX *= _l48;
              this._angVelY *= _l48;
              this._angVelZ *= _l48;
              rotationX *= _l48;
              rotationY *= _l48;
              rotationZ *= _l48;
            }

            this._transform._positionX += translationX;
            this._transform._positionY += translationY;
            this._transform._positionZ += translationZ;
            var theta = Math.sqrt(rotationX * rotationX + rotationY * rotationY + rotationZ * rotationZ);
            var halfTheta = theta * 0.5;
            var rotationToSinAxisFactor;
            var cosHalfTheta;

            if (halfTheta < 0.5) {
              var ht2 = halfTheta * halfTheta;
              rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
              cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
            } else {
              rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
              cosHalfTheta = Math.cos(halfTheta);
            }

            var sinAxisX;
            var sinAxisY;
            var sinAxisZ;
            sinAxisX = rotationX * rotationToSinAxisFactor;
            sinAxisY = rotationY * rotationToSinAxisFactor;
            sinAxisZ = rotationZ * rotationToSinAxisFactor;
            var dqX;
            var dqY;
            var dqZ;
            var dqW;
            dqX = sinAxisX;
            dqY = sinAxisY;
            dqZ = sinAxisZ;
            dqW = cosHalfTheta;
            var qX;
            var qY;
            var qZ;
            var qW;
            var e00 = this._transform._rotation00;
            var e11 = this._transform._rotation11;
            var e22 = this._transform._rotation22;
            var t = e00 + e11 + e22;
            var s;

            if (t > 0) {
              s = Math.sqrt(t + 1);
              qW = 0.5 * s;
              s = 0.5 / s;
              qX = (this._transform._rotation21 - this._transform._rotation12) * s;
              qY = (this._transform._rotation02 - this._transform._rotation20) * s;
              qZ = (this._transform._rotation10 - this._transform._rotation01) * s;
            } else if (e00 > e11) {
              if (e00 > e22) {
                s = Math.sqrt(e00 - e11 - e22 + 1);
                qX = 0.5 * s;
                s = 0.5 / s;
                qY = (this._transform._rotation01 + this._transform._rotation10) * s;
                qZ = (this._transform._rotation02 + this._transform._rotation20) * s;
                qW = (this._transform._rotation21 - this._transform._rotation12) * s;
              } else {
                s = Math.sqrt(e22 - e00 - e11 + 1);
                qZ = 0.5 * s;
                s = 0.5 / s;
                qX = (this._transform._rotation02 + this._transform._rotation20) * s;
                qY = (this._transform._rotation12 + this._transform._rotation21) * s;
                qW = (this._transform._rotation10 - this._transform._rotation01) * s;
              }
            } else if (e11 > e22) {
              s = Math.sqrt(e11 - e22 - e00 + 1);
              qY = 0.5 * s;
              s = 0.5 / s;
              qX = (this._transform._rotation01 + this._transform._rotation10) * s;
              qZ = (this._transform._rotation12 + this._transform._rotation21) * s;
              qW = (this._transform._rotation02 - this._transform._rotation20) * s;
            } else {
              s = Math.sqrt(e22 - e00 - e11 + 1);
              qZ = 0.5 * s;
              s = 0.5 / s;
              qX = (this._transform._rotation02 + this._transform._rotation20) * s;
              qY = (this._transform._rotation12 + this._transform._rotation21) * s;
              qW = (this._transform._rotation10 - this._transform._rotation01) * s;
            }

            qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
            qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
            qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
            qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
            var l = qX * qX + qY * qY + qZ * qZ + qW * qW;

            if (l > 1e-32) {
              l = 1 / Math.sqrt(l);
            }

            qX *= l;
            qY *= l;
            qZ *= l;
            qW *= l;
            var x = qX;
            var y = qY;
            var z = qZ;
            var w = qW;
            var x2 = 2 * x;
            var y2 = 2 * y;
            var z2 = 2 * z;
            var xx = x * x2;
            var yy = y * y2;
            var zz = z * z2;
            var xy = x * y2;
            var yz = y * z2;
            var xz = x * z2;
            var wx = w * x2;
            var wy = w * y2;
            var wz = w * z2;
            this._transform._rotation00 = 1 - yy - zz;
            this._transform._rotation01 = xy - wz;
            this._transform._rotation02 = xz + wy;
            this._transform._rotation10 = xy + wz;
            this._transform._rotation11 = 1 - xx - zz;
            this._transform._rotation12 = yz - wx;
            this._transform._rotation20 = xz - wy;
            this._transform._rotation21 = yz + wx;
            this._transform._rotation22 = 1 - xx - yy;

            var __tmp__00;

            var __tmp__01;

            var __tmp__02;

            var __tmp__10;

            var __tmp__11;

            var __tmp__12;

            var __tmp__20;

            var __tmp__21;

            var __tmp__22;

            __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
            __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
            __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
            __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
            __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
            __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
            __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
            __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
            __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
            this._invInertia00 = __tmp__00;
            this._invInertia01 = __tmp__01;
            this._invInertia02 = __tmp__02;
            this._invInertia10 = __tmp__10;
            this._invInertia11 = __tmp__11;
            this._invInertia12 = __tmp__12;
            this._invInertia20 = __tmp__20;
            this._invInertia21 = __tmp__21;
            this._invInertia22 = __tmp__22;

            var __tmp__001;

            var __tmp__011;

            var __tmp__021;

            var __tmp__101;

            var __tmp__111;

            var __tmp__121;

            var __tmp__201;

            var __tmp__211;

            var __tmp__221;

            __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
            __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
            __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
            __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
            __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
            __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
            __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
            __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
            __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
            this._invInertia00 = __tmp__001;
            this._invInertia01 = __tmp__011;
            this._invInertia02 = __tmp__021;
            this._invInertia10 = __tmp__101;
            this._invInertia11 = __tmp__111;
            this._invInertia12 = __tmp__121;
            this._invInertia20 = __tmp__201;
            this._invInertia21 = __tmp__211;
            this._invInertia22 = __tmp__221;
            this._invInertia00 *= this._rotFactor.x;
            this._invInertia01 *= this._rotFactor.x;
            this._invInertia02 *= this._rotFactor.x;
            this._invInertia10 *= this._rotFactor.y;
            this._invInertia11 *= this._rotFactor.y;
            this._invInertia12 *= this._rotFactor.y;
            this._invInertia20 *= this._rotFactor.z;
            this._invInertia21 *= this._rotFactor.z;
            this._invInertia22 *= this._rotFactor.z;
            break;
        }
      }
    }, {
      key: "_integratePseudoVelocity",
      value: function _integratePseudoVelocity() {
        if (this._pseudoVelX * this._pseudoVelX + this._pseudoVelY * this._pseudoVelY + this._pseudoVelZ * this._pseudoVelZ == 0 && this._angPseudoVelX * this._angPseudoVelX + this._angPseudoVelY * this._angPseudoVelY + this._angPseudoVelZ * this._angPseudoVelZ == 0) {
          return;
        }

        switch (this._type) {
          case 1:
            this._pseudoVelX = 0;
            this._pseudoVelY = 0;
            this._pseudoVelZ = 0;
            this._angPseudoVelX = 0;
            this._angPseudoVelY = 0;
            this._angPseudoVelZ = 0;
            break;

          case 0:
          case 2:
            var translationX;
            var translationY;
            var translationZ;
            var rotationX;
            var rotationY;
            var rotationZ;
            translationX = this._pseudoVelX;
            translationY = this._pseudoVelY;
            translationZ = this._pseudoVelZ;
            rotationX = this._angPseudoVelX;
            rotationY = this._angPseudoVelY;
            rotationZ = this._angPseudoVelZ;
            this._pseudoVelX = 0;
            this._pseudoVelY = 0;
            this._pseudoVelZ = 0;
            this._angPseudoVelX = 0;
            this._angPseudoVelY = 0;
            this._angPseudoVelZ = 0;
            this._transform._positionX += translationX;
            this._transform._positionY += translationY;
            this._transform._positionZ += translationZ;
            var theta = Math.sqrt(rotationX * rotationX + rotationY * rotationY + rotationZ * rotationZ);
            var halfTheta = theta * 0.5;
            var rotationToSinAxisFactor;
            var cosHalfTheta;

            if (halfTheta < 0.5) {
              var ht2 = halfTheta * halfTheta;
              rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
              cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
            } else {
              rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
              cosHalfTheta = Math.cos(halfTheta);
            }

            var sinAxisX;
            var sinAxisY;
            var sinAxisZ;
            sinAxisX = rotationX * rotationToSinAxisFactor;
            sinAxisY = rotationY * rotationToSinAxisFactor;
            sinAxisZ = rotationZ * rotationToSinAxisFactor;
            var dqX;
            var dqY;
            var dqZ;
            var dqW;
            dqX = sinAxisX;
            dqY = sinAxisY;
            dqZ = sinAxisZ;
            dqW = cosHalfTheta;
            var qX;
            var qY;
            var qZ;
            var qW;
            var e00 = this._transform._rotation00;
            var e11 = this._transform._rotation11;
            var e22 = this._transform._rotation22;
            var t = e00 + e11 + e22;
            var s;

            if (t > 0) {
              s = Math.sqrt(t + 1);
              qW = 0.5 * s;
              s = 0.5 / s;
              qX = (this._transform._rotation21 - this._transform._rotation12) * s;
              qY = (this._transform._rotation02 - this._transform._rotation20) * s;
              qZ = (this._transform._rotation10 - this._transform._rotation01) * s;
            } else if (e00 > e11) {
              if (e00 > e22) {
                s = Math.sqrt(e00 - e11 - e22 + 1);
                qX = 0.5 * s;
                s = 0.5 / s;
                qY = (this._transform._rotation01 + this._transform._rotation10) * s;
                qZ = (this._transform._rotation02 + this._transform._rotation20) * s;
                qW = (this._transform._rotation21 - this._transform._rotation12) * s;
              } else {
                s = Math.sqrt(e22 - e00 - e11 + 1);
                qZ = 0.5 * s;
                s = 0.5 / s;
                qX = (this._transform._rotation02 + this._transform._rotation20) * s;
                qY = (this._transform._rotation12 + this._transform._rotation21) * s;
                qW = (this._transform._rotation10 - this._transform._rotation01) * s;
              }
            } else if (e11 > e22) {
              s = Math.sqrt(e11 - e22 - e00 + 1);
              qY = 0.5 * s;
              s = 0.5 / s;
              qX = (this._transform._rotation01 + this._transform._rotation10) * s;
              qZ = (this._transform._rotation12 + this._transform._rotation21) * s;
              qW = (this._transform._rotation02 - this._transform._rotation20) * s;
            } else {
              s = Math.sqrt(e22 - e00 - e11 + 1);
              qZ = 0.5 * s;
              s = 0.5 / s;
              qX = (this._transform._rotation02 + this._transform._rotation20) * s;
              qY = (this._transform._rotation12 + this._transform._rotation21) * s;
              qW = (this._transform._rotation10 - this._transform._rotation01) * s;
            }

            qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
            qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
            qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
            qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
            var l = qX * qX + qY * qY + qZ * qZ + qW * qW;

            if (l > 1e-32) {
              l = 1 / Math.sqrt(l);
            }

            qX *= l;
            qY *= l;
            qZ *= l;
            qW *= l;
            var x = qX;
            var y = qY;
            var z = qZ;
            var w = qW;
            var x2 = 2 * x;
            var y2 = 2 * y;
            var z2 = 2 * z;
            var xx = x * x2;
            var yy = y * y2;
            var zz = z * z2;
            var xy = x * y2;
            var yz = y * z2;
            var xz = x * z2;
            var wx = w * x2;
            var wy = w * y2;
            var wz = w * z2;
            this._transform._rotation00 = 1 - yy - zz;
            this._transform._rotation01 = xy - wz;
            this._transform._rotation02 = xz + wy;
            this._transform._rotation10 = xy + wz;
            this._transform._rotation11 = 1 - xx - zz;
            this._transform._rotation12 = yz - wx;
            this._transform._rotation20 = xz - wy;
            this._transform._rotation21 = yz + wx;
            this._transform._rotation22 = 1 - xx - yy;

            var __tmp__00;

            var __tmp__01;

            var __tmp__02;

            var __tmp__10;

            var __tmp__11;

            var __tmp__12;

            var __tmp__20;

            var __tmp__21;

            var __tmp__22;

            __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
            __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
            __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
            __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
            __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
            __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
            __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
            __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
            __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
            this._invInertia00 = __tmp__00;
            this._invInertia01 = __tmp__01;
            this._invInertia02 = __tmp__02;
            this._invInertia10 = __tmp__10;
            this._invInertia11 = __tmp__11;
            this._invInertia12 = __tmp__12;
            this._invInertia20 = __tmp__20;
            this._invInertia21 = __tmp__21;
            this._invInertia22 = __tmp__22;

            var __tmp__001;

            var __tmp__011;

            var __tmp__021;

            var __tmp__101;

            var __tmp__111;

            var __tmp__121;

            var __tmp__201;

            var __tmp__211;

            var __tmp__221;

            __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
            __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
            __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
            __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
            __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
            __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
            __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
            __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
            __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
            this._invInertia00 = __tmp__001;
            this._invInertia01 = __tmp__011;
            this._invInertia02 = __tmp__021;
            this._invInertia10 = __tmp__101;
            this._invInertia11 = __tmp__111;
            this._invInertia12 = __tmp__121;
            this._invInertia20 = __tmp__201;
            this._invInertia21 = __tmp__211;
            this._invInertia22 = __tmp__221;
            this._invInertia00 *= this._rotFactor.x;
            this._invInertia01 *= this._rotFactor.x;
            this._invInertia02 *= this._rotFactor.x;
            this._invInertia10 *= this._rotFactor.y;
            this._invInertia11 *= this._rotFactor.y;
            this._invInertia12 *= this._rotFactor.y;
            this._invInertia20 *= this._rotFactor.z;
            this._invInertia21 *= this._rotFactor.z;
            this._invInertia22 *= this._rotFactor.z;
            break;
        }
      }
    }, {
      key: "updateMass",
      value: function updateMass() {
        var totalInertia00;
        var totalInertia01;
        var totalInertia02;
        var totalInertia10;
        var totalInertia11;
        var totalInertia12;
        var totalInertia20;
        var totalInertia21;
        var totalInertia22;
        totalInertia00 = 0;
        totalInertia01 = 0;
        totalInertia02 = 0;
        totalInertia10 = 0;
        totalInertia11 = 0;
        totalInertia12 = 0;
        totalInertia20 = 0;
        totalInertia21 = 0;
        totalInertia22 = 0;
        var totalMass = 0;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var g = s._geom;

          g._updateMass();

          var mass = s._density * g._volume;
          var inertia00 = void 0;
          var inertia01 = void 0;
          var inertia02 = void 0;
          var inertia10 = void 0;
          var inertia11 = void 0;
          var inertia12 = void 0;
          var inertia20 = void 0;
          var inertia21 = void 0;
          var inertia22 = void 0;

          var _tmp__ = void 0;

          var _tmp__2 = void 0;

          var _tmp__3 = void 0;

          var _tmp__4 = void 0;

          var _tmp__5 = void 0;

          var _tmp__6 = void 0;

          var _tmp__7 = void 0;

          var _tmp__8 = void 0;

          var _tmp__9 = void 0;

          _tmp__ = s._localTransform._rotation00 * g._inertiaCoeff00 + s._localTransform._rotation01 * g._inertiaCoeff10 + s._localTransform._rotation02 * g._inertiaCoeff20;
          _tmp__2 = s._localTransform._rotation00 * g._inertiaCoeff01 + s._localTransform._rotation01 * g._inertiaCoeff11 + s._localTransform._rotation02 * g._inertiaCoeff21;
          _tmp__3 = s._localTransform._rotation00 * g._inertiaCoeff02 + s._localTransform._rotation01 * g._inertiaCoeff12 + s._localTransform._rotation02 * g._inertiaCoeff22;
          _tmp__4 = s._localTransform._rotation10 * g._inertiaCoeff00 + s._localTransform._rotation11 * g._inertiaCoeff10 + s._localTransform._rotation12 * g._inertiaCoeff20;
          _tmp__5 = s._localTransform._rotation10 * g._inertiaCoeff01 + s._localTransform._rotation11 * g._inertiaCoeff11 + s._localTransform._rotation12 * g._inertiaCoeff21;
          _tmp__6 = s._localTransform._rotation10 * g._inertiaCoeff02 + s._localTransform._rotation11 * g._inertiaCoeff12 + s._localTransform._rotation12 * g._inertiaCoeff22;
          _tmp__7 = s._localTransform._rotation20 * g._inertiaCoeff00 + s._localTransform._rotation21 * g._inertiaCoeff10 + s._localTransform._rotation22 * g._inertiaCoeff20;
          _tmp__8 = s._localTransform._rotation20 * g._inertiaCoeff01 + s._localTransform._rotation21 * g._inertiaCoeff11 + s._localTransform._rotation22 * g._inertiaCoeff21;
          _tmp__9 = s._localTransform._rotation20 * g._inertiaCoeff02 + s._localTransform._rotation21 * g._inertiaCoeff12 + s._localTransform._rotation22 * g._inertiaCoeff22;
          inertia00 = _tmp__;
          inertia01 = _tmp__2;
          inertia02 = _tmp__3;
          inertia10 = _tmp__4;
          inertia11 = _tmp__5;
          inertia12 = _tmp__6;
          inertia20 = _tmp__7;
          inertia21 = _tmp__8;
          inertia22 = _tmp__9;

          var _tmp__10 = void 0;

          var _tmp__11 = void 0;

          var _tmp__12 = void 0;

          var _tmp__13 = void 0;

          var _tmp__14 = void 0;

          var _tmp__15 = void 0;

          var _tmp__16 = void 0;

          var _tmp__17 = void 0;

          var _tmp__18 = void 0;

          _tmp__10 = inertia00 * s._localTransform._rotation00 + inertia01 * s._localTransform._rotation01 + inertia02 * s._localTransform._rotation02;
          _tmp__11 = inertia00 * s._localTransform._rotation10 + inertia01 * s._localTransform._rotation11 + inertia02 * s._localTransform._rotation12;
          _tmp__12 = inertia00 * s._localTransform._rotation20 + inertia01 * s._localTransform._rotation21 + inertia02 * s._localTransform._rotation22;
          _tmp__13 = inertia10 * s._localTransform._rotation00 + inertia11 * s._localTransform._rotation01 + inertia12 * s._localTransform._rotation02;
          _tmp__14 = inertia10 * s._localTransform._rotation10 + inertia11 * s._localTransform._rotation11 + inertia12 * s._localTransform._rotation12;
          _tmp__15 = inertia10 * s._localTransform._rotation20 + inertia11 * s._localTransform._rotation21 + inertia12 * s._localTransform._rotation22;
          _tmp__16 = inertia20 * s._localTransform._rotation00 + inertia21 * s._localTransform._rotation01 + inertia22 * s._localTransform._rotation02;
          _tmp__17 = inertia20 * s._localTransform._rotation10 + inertia21 * s._localTransform._rotation11 + inertia22 * s._localTransform._rotation12;
          _tmp__18 = inertia20 * s._localTransform._rotation20 + inertia21 * s._localTransform._rotation21 + inertia22 * s._localTransform._rotation22;
          inertia00 = _tmp__10;
          inertia01 = _tmp__11;
          inertia02 = _tmp__12;
          inertia10 = _tmp__13;
          inertia11 = _tmp__14;
          inertia12 = _tmp__15;
          inertia20 = _tmp__16;
          inertia21 = _tmp__17;
          inertia22 = _tmp__18;
          inertia00 *= mass;
          inertia01 *= mass;
          inertia02 *= mass;
          inertia10 *= mass;
          inertia11 *= mass;
          inertia12 *= mass;
          inertia20 *= mass;
          inertia21 *= mass;
          inertia22 *= mass;
          var cogInertia00 = void 0;
          var cogInertia01 = void 0;
          var cogInertia02 = void 0;
          var cogInertia10 = void 0;
          var cogInertia11 = void 0;
          var cogInertia12 = void 0;
          var cogInertia20 = void 0;
          var cogInertia21 = void 0;
          var cogInertia22 = void 0;
          var xx = s._localTransform._positionX * s._localTransform._positionX;
          var yy = s._localTransform._positionY * s._localTransform._positionY;
          var zz = s._localTransform._positionZ * s._localTransform._positionZ;
          var xy = -s._localTransform._positionX * s._localTransform._positionY;
          var yz = -s._localTransform._positionY * s._localTransform._positionZ;
          var zx = -s._localTransform._positionZ * s._localTransform._positionX;
          cogInertia00 = yy + zz;
          cogInertia01 = xy;
          cogInertia02 = zx;
          cogInertia10 = xy;
          cogInertia11 = xx + zz;
          cogInertia12 = yz;
          cogInertia20 = zx;
          cogInertia21 = yz;
          cogInertia22 = xx + yy;
          inertia00 += cogInertia00 * mass;
          inertia01 += cogInertia01 * mass;
          inertia02 += cogInertia02 * mass;
          inertia10 += cogInertia10 * mass;
          inertia11 += cogInertia11 * mass;
          inertia12 += cogInertia12 * mass;
          inertia20 += cogInertia20 * mass;
          inertia21 += cogInertia21 * mass;
          inertia22 += cogInertia22 * mass;
          totalMass += mass;
          totalInertia00 += inertia00;
          totalInertia01 += inertia01;
          totalInertia02 += inertia02;
          totalInertia10 += inertia10;
          totalInertia11 += inertia11;
          totalInertia12 += inertia12;
          totalInertia20 += inertia20;
          totalInertia21 += inertia21;
          totalInertia22 += inertia22;
          s = n;
        }

        this._mass = totalMass;
        this._localInertia00 = totalInertia00;
        this._localInertia01 = totalInertia01;
        this._localInertia02 = totalInertia02;
        this._localInertia10 = totalInertia10;
        this._localInertia11 = totalInertia11;
        this._localInertia12 = totalInertia12;
        this._localInertia20 = totalInertia20;
        this._localInertia21 = totalInertia21;
        this._localInertia22 = totalInertia22;

        if (this._mass > 0 && this._localInertia00 * (this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21) - this._localInertia01 * (this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20) + this._localInertia02 * (this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20) > 0 && this._type == 0) {
          this._invMass = 1 / this._mass;
          var d00 = this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21;
          var d01 = this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20;
          var d02 = this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20;
          var d = this._localInertia00 * d00 - this._localInertia01 * d01 + this._localInertia02 * d02;

          if (d < -1e-32 || d > 1e-32) {
            d = 1 / d;
          }

          this._invLocalInertia00 = d00 * d;
          this._invLocalInertia01 = -(this._localInertia01 * this._localInertia22 - this._localInertia02 * this._localInertia21) * d;
          this._invLocalInertia02 = (this._localInertia01 * this._localInertia12 - this._localInertia02 * this._localInertia11) * d;
          this._invLocalInertia10 = -d01 * d;
          this._invLocalInertia11 = (this._localInertia00 * this._localInertia22 - this._localInertia02 * this._localInertia20) * d;
          this._invLocalInertia12 = -(this._localInertia00 * this._localInertia12 - this._localInertia02 * this._localInertia10) * d;
          this._invLocalInertia20 = d02 * d;
          this._invLocalInertia21 = -(this._localInertia00 * this._localInertia21 - this._localInertia01 * this._localInertia20) * d;
          this._invLocalInertia22 = (this._localInertia00 * this._localInertia11 - this._localInertia01 * this._localInertia10) * d;
          this._invLocalInertiaWithoutRotFactor00 = this._invLocalInertia00;
          this._invLocalInertiaWithoutRotFactor01 = this._invLocalInertia01;
          this._invLocalInertiaWithoutRotFactor02 = this._invLocalInertia02;
          this._invLocalInertiaWithoutRotFactor10 = this._invLocalInertia10;
          this._invLocalInertiaWithoutRotFactor11 = this._invLocalInertia11;
          this._invLocalInertiaWithoutRotFactor12 = this._invLocalInertia12;
          this._invLocalInertiaWithoutRotFactor20 = this._invLocalInertia20;
          this._invLocalInertiaWithoutRotFactor21 = this._invLocalInertia21;
          this._invLocalInertiaWithoutRotFactor22 = this._invLocalInertia22;
          this._invLocalInertia00 = this._invLocalInertiaWithoutRotFactor00 * this._rotFactor.x;
          this._invLocalInertia01 = this._invLocalInertiaWithoutRotFactor01 * this._rotFactor.x;
          this._invLocalInertia02 = this._invLocalInertiaWithoutRotFactor02 * this._rotFactor.x;
          this._invLocalInertia10 = this._invLocalInertiaWithoutRotFactor10 * this._rotFactor.y;
          this._invLocalInertia11 = this._invLocalInertiaWithoutRotFactor11 * this._rotFactor.y;
          this._invLocalInertia12 = this._invLocalInertiaWithoutRotFactor12 * this._rotFactor.y;
          this._invLocalInertia20 = this._invLocalInertiaWithoutRotFactor20 * this._rotFactor.z;
          this._invLocalInertia21 = this._invLocalInertiaWithoutRotFactor21 * this._rotFactor.z;
          this._invLocalInertia22 = this._invLocalInertiaWithoutRotFactor22 * this._rotFactor.z;
        } else {
          this._invMass = 0;
          this._invLocalInertia00 = 0;
          this._invLocalInertia01 = 0;
          this._invLocalInertia02 = 0;
          this._invLocalInertia10 = 0;
          this._invLocalInertia11 = 0;
          this._invLocalInertia12 = 0;
          this._invLocalInertia20 = 0;
          this._invLocalInertia21 = 0;
          this._invLocalInertia22 = 0;
          this._invLocalInertiaWithoutRotFactor00 = 0;
          this._invLocalInertiaWithoutRotFactor01 = 0;
          this._invLocalInertiaWithoutRotFactor02 = 0;
          this._invLocalInertiaWithoutRotFactor10 = 0;
          this._invLocalInertiaWithoutRotFactor11 = 0;
          this._invLocalInertiaWithoutRotFactor12 = 0;
          this._invLocalInertiaWithoutRotFactor20 = 0;
          this._invLocalInertiaWithoutRotFactor21 = 0;
          this._invLocalInertiaWithoutRotFactor22 = 0;

          if (this._type == 0) {
            this._type = 1;
          }
        }

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__00;
        this._invInertia01 = __tmp__01;
        this._invInertia02 = __tmp__02;
        this._invInertia10 = __tmp__10;
        this._invInertia11 = __tmp__11;
        this._invInertia12 = __tmp__12;
        this._invInertia20 = __tmp__20;
        this._invInertia21 = __tmp__21;
        this._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getPosition",
      value: function getPosition() {
        var v = new oimo.common.Vec3();
        v.x = this._transform._positionX;
        v.y = this._transform._positionY;
        v.z = this._transform._positionZ;
        return v;
      }
    }, {
      key: "getPositionTo",
      value: function getPositionTo(position) {
        position.x = this._transform._positionX;
        position.y = this._transform._positionY;
        position.z = this._transform._positionZ;
      }
    }, {
      key: "setPosition",
      value: function setPosition(position) {
        this._transform._positionX = position.x;
        this._transform._positionY = position.y;
        this._transform._positionZ = position.z;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst3 = s._ptransform;
          var src1 = s._localTransform;

          var __tmp__00 = void 0;

          var __tmp__01 = void 0;

          var __tmp__02 = void 0;

          var __tmp__10 = void 0;

          var __tmp__11 = void 0;

          var __tmp__12 = void 0;

          var __tmp__20 = void 0;

          var __tmp__21 = void 0;

          var __tmp__22 = void 0;

          __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst3._rotation00 = __tmp__00;
          _dst3._rotation01 = __tmp__01;
          _dst3._rotation02 = __tmp__02;
          _dst3._rotation10 = __tmp__10;
          _dst3._rotation11 = __tmp__11;
          _dst3._rotation12 = __tmp__12;
          _dst3._rotation20 = __tmp__20;
          _dst3._rotation21 = __tmp__21;
          _dst3._rotation22 = __tmp__22;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst3._positionX = __tmp__X;
          _dst3._positionY = __tmp__Y;
          _dst3._positionZ = __tmp__Z;
          _dst3._positionX += tf1._positionX;
          _dst3._positionY += tf1._positionY;
          _dst3._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var __tmp__001 = void 0;

          var __tmp__011 = void 0;

          var __tmp__021 = void 0;

          var __tmp__101 = void 0;

          var __tmp__111 = void 0;

          var __tmp__121 = void 0;

          var __tmp__201 = void 0;

          var __tmp__211 = void 0;

          var __tmp__221 = void 0;

          __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = __tmp__001;
          dst1._rotation01 = __tmp__011;
          dst1._rotation02 = __tmp__021;
          dst1._rotation10 = __tmp__101;
          dst1._rotation11 = __tmp__111;
          dst1._rotation12 = __tmp__121;
          dst1._rotation20 = __tmp__201;
          dst1._rotation21 = __tmp__211;
          dst1._rotation22 = __tmp__221;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "translate",
      value: function translate(translation) {
        var diffX;
        var diffY;
        var diffZ;
        diffX = translation.x;
        diffY = translation.y;
        diffZ = translation.z;
        this._transform._positionX += diffX;
        this._transform._positionY += diffY;
        this._transform._positionZ += diffZ;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst4 = s._ptransform;
          var src1 = s._localTransform;

          var __tmp__00 = void 0;

          var __tmp__01 = void 0;

          var __tmp__02 = void 0;

          var __tmp__10 = void 0;

          var __tmp__11 = void 0;

          var __tmp__12 = void 0;

          var __tmp__20 = void 0;

          var __tmp__21 = void 0;

          var __tmp__22 = void 0;

          __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst4._rotation00 = __tmp__00;
          _dst4._rotation01 = __tmp__01;
          _dst4._rotation02 = __tmp__02;
          _dst4._rotation10 = __tmp__10;
          _dst4._rotation11 = __tmp__11;
          _dst4._rotation12 = __tmp__12;
          _dst4._rotation20 = __tmp__20;
          _dst4._rotation21 = __tmp__21;
          _dst4._rotation22 = __tmp__22;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst4._positionX = __tmp__X;
          _dst4._positionY = __tmp__Y;
          _dst4._positionZ = __tmp__Z;
          _dst4._positionX += tf1._positionX;
          _dst4._positionY += tf1._positionY;
          _dst4._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var __tmp__001 = void 0;

          var __tmp__011 = void 0;

          var __tmp__021 = void 0;

          var __tmp__101 = void 0;

          var __tmp__111 = void 0;

          var __tmp__121 = void 0;

          var __tmp__201 = void 0;

          var __tmp__211 = void 0;

          var __tmp__221 = void 0;

          __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = __tmp__001;
          dst1._rotation01 = __tmp__011;
          dst1._rotation02 = __tmp__021;
          dst1._rotation10 = __tmp__101;
          dst1._rotation11 = __tmp__111;
          dst1._rotation12 = __tmp__121;
          dst1._rotation20 = __tmp__201;
          dst1._rotation21 = __tmp__211;
          dst1._rotation22 = __tmp__221;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getRotation",
      value: function getRotation() {
        var m = new oimo.common.Mat3();
        m.e00 = this._transform._rotation00;
        m.e01 = this._transform._rotation01;
        m.e02 = this._transform._rotation02;
        m.e10 = this._transform._rotation10;
        m.e11 = this._transform._rotation11;
        m.e12 = this._transform._rotation12;
        m.e20 = this._transform._rotation20;
        m.e21 = this._transform._rotation21;
        m.e22 = this._transform._rotation22;
        return m;
      }
    }, {
      key: "getRotationTo",
      value: function getRotationTo(rotation) {
        rotation.e00 = this._transform._rotation00;
        rotation.e01 = this._transform._rotation01;
        rotation.e02 = this._transform._rotation02;
        rotation.e10 = this._transform._rotation10;
        rotation.e11 = this._transform._rotation11;
        rotation.e12 = this._transform._rotation12;
        rotation.e20 = this._transform._rotation20;
        rotation.e21 = this._transform._rotation21;
        rotation.e22 = this._transform._rotation22;
      }
    }, {
      key: "setRotation",
      value: function setRotation(rotation) {
        this._transform._rotation00 = rotation.e00;
        this._transform._rotation01 = rotation.e01;
        this._transform._rotation02 = rotation.e02;
        this._transform._rotation10 = rotation.e10;
        this._transform._rotation11 = rotation.e11;
        this._transform._rotation12 = rotation.e12;
        this._transform._rotation20 = rotation.e20;
        this._transform._rotation21 = rotation.e21;
        this._transform._rotation22 = rotation.e22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__00;
        this._invInertia01 = __tmp__01;
        this._invInertia02 = __tmp__02;
        this._invInertia10 = __tmp__10;
        this._invInertia11 = __tmp__11;
        this._invInertia12 = __tmp__12;
        this._invInertia20 = __tmp__20;
        this._invInertia21 = __tmp__21;
        this._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst5 = s._ptransform;
          var src1 = s._localTransform;

          var _tmp__19 = void 0;

          var _tmp__20 = void 0;

          var _tmp__21 = void 0;

          var _tmp__22 = void 0;

          var _tmp__23 = void 0;

          var _tmp__24 = void 0;

          var _tmp__25 = void 0;

          var _tmp__26 = void 0;

          var _tmp__27 = void 0;

          _tmp__19 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          _tmp__20 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          _tmp__21 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          _tmp__22 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          _tmp__23 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          _tmp__24 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          _tmp__25 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          _tmp__26 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          _tmp__27 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst5._rotation00 = _tmp__19;
          _dst5._rotation01 = _tmp__20;
          _dst5._rotation02 = _tmp__21;
          _dst5._rotation10 = _tmp__22;
          _dst5._rotation11 = _tmp__23;
          _dst5._rotation12 = _tmp__24;
          _dst5._rotation20 = _tmp__25;
          _dst5._rotation21 = _tmp__26;
          _dst5._rotation22 = _tmp__27;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst5._positionX = __tmp__X;
          _dst5._positionY = __tmp__Y;
          _dst5._positionZ = __tmp__Z;
          _dst5._positionX += tf1._positionX;
          _dst5._positionY += tf1._positionY;
          _dst5._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var _tmp__28 = void 0;

          var _tmp__29 = void 0;

          var _tmp__30 = void 0;

          var _tmp__31 = void 0;

          var _tmp__32 = void 0;

          var _tmp__33 = void 0;

          var _tmp__34 = void 0;

          var _tmp__35 = void 0;

          var _tmp__36 = void 0;

          _tmp__28 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          _tmp__29 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          _tmp__30 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          _tmp__31 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          _tmp__32 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          _tmp__33 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          _tmp__34 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          _tmp__35 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          _tmp__36 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = _tmp__28;
          dst1._rotation01 = _tmp__29;
          dst1._rotation02 = _tmp__30;
          dst1._rotation10 = _tmp__31;
          dst1._rotation11 = _tmp__32;
          dst1._rotation12 = _tmp__33;
          dst1._rotation20 = _tmp__34;
          dst1._rotation21 = _tmp__35;
          dst1._rotation22 = _tmp__36;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "setRotationXyz",
      value: function setRotationXyz(eulerAngles) {
        var xyzX;
        var xyzY;
        var xyzZ;
        xyzX = eulerAngles.x;
        xyzY = eulerAngles.y;
        xyzZ = eulerAngles.z;
        var sx = Math.sin(xyzX);
        var sy = Math.sin(xyzY);
        var sz = Math.sin(xyzZ);
        var cx = Math.cos(xyzX);
        var cy = Math.cos(xyzY);
        var cz = Math.cos(xyzZ);
        this._transform._rotation00 = cy * cz;
        this._transform._rotation01 = -cy * sz;
        this._transform._rotation02 = sy;
        this._transform._rotation10 = cx * sz + cz * sx * sy;
        this._transform._rotation11 = cx * cz - sx * sy * sz;
        this._transform._rotation12 = -cy * sx;
        this._transform._rotation20 = sx * sz - cx * cz * sy;
        this._transform._rotation21 = cz * sx + cx * sy * sz;
        this._transform._rotation22 = cx * cy;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__00;
        this._invInertia01 = __tmp__01;
        this._invInertia02 = __tmp__02;
        this._invInertia10 = __tmp__10;
        this._invInertia11 = __tmp__11;
        this._invInertia12 = __tmp__12;
        this._invInertia20 = __tmp__20;
        this._invInertia21 = __tmp__21;
        this._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst6 = s._ptransform;
          var src1 = s._localTransform;

          var _tmp__37 = void 0;

          var _tmp__38 = void 0;

          var _tmp__39 = void 0;

          var _tmp__40 = void 0;

          var _tmp__41 = void 0;

          var _tmp__42 = void 0;

          var _tmp__43 = void 0;

          var _tmp__44 = void 0;

          var _tmp__45 = void 0;

          _tmp__37 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          _tmp__38 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          _tmp__39 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          _tmp__40 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          _tmp__41 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          _tmp__42 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          _tmp__43 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          _tmp__44 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          _tmp__45 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst6._rotation00 = _tmp__37;
          _dst6._rotation01 = _tmp__38;
          _dst6._rotation02 = _tmp__39;
          _dst6._rotation10 = _tmp__40;
          _dst6._rotation11 = _tmp__41;
          _dst6._rotation12 = _tmp__42;
          _dst6._rotation20 = _tmp__43;
          _dst6._rotation21 = _tmp__44;
          _dst6._rotation22 = _tmp__45;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst6._positionX = __tmp__X;
          _dst6._positionY = __tmp__Y;
          _dst6._positionZ = __tmp__Z;
          _dst6._positionX += tf1._positionX;
          _dst6._positionY += tf1._positionY;
          _dst6._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var _tmp__46 = void 0;

          var _tmp__47 = void 0;

          var _tmp__48 = void 0;

          var _tmp__49 = void 0;

          var _tmp__50 = void 0;

          var _tmp__51 = void 0;

          var _tmp__52 = void 0;

          var _tmp__53 = void 0;

          var _tmp__54 = void 0;

          _tmp__46 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          _tmp__47 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          _tmp__48 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          _tmp__49 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          _tmp__50 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          _tmp__51 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          _tmp__52 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          _tmp__53 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          _tmp__54 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = _tmp__46;
          dst1._rotation01 = _tmp__47;
          dst1._rotation02 = _tmp__48;
          dst1._rotation10 = _tmp__49;
          dst1._rotation11 = _tmp__50;
          dst1._rotation12 = _tmp__51;
          dst1._rotation20 = _tmp__52;
          dst1._rotation21 = _tmp__53;
          dst1._rotation22 = _tmp__54;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "rotate",
      value: function rotate(rotation) {
        var rot00;
        var rot01;
        var rot02;
        var rot10;
        var rot11;
        var rot12;
        var rot20;
        var rot21;
        var rot22;
        rot00 = rotation.e00;
        rot01 = rotation.e01;
        rot02 = rotation.e02;
        rot10 = rotation.e10;
        rot11 = rotation.e11;
        rot12 = rotation.e12;
        rot20 = rotation.e20;
        rot21 = rotation.e21;
        rot22 = rotation.e22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = rot00 * this._transform._rotation00 + rot01 * this._transform._rotation10 + rot02 * this._transform._rotation20;
        __tmp__01 = rot00 * this._transform._rotation01 + rot01 * this._transform._rotation11 + rot02 * this._transform._rotation21;
        __tmp__02 = rot00 * this._transform._rotation02 + rot01 * this._transform._rotation12 + rot02 * this._transform._rotation22;
        __tmp__10 = rot10 * this._transform._rotation00 + rot11 * this._transform._rotation10 + rot12 * this._transform._rotation20;
        __tmp__11 = rot10 * this._transform._rotation01 + rot11 * this._transform._rotation11 + rot12 * this._transform._rotation21;
        __tmp__12 = rot10 * this._transform._rotation02 + rot11 * this._transform._rotation12 + rot12 * this._transform._rotation22;
        __tmp__20 = rot20 * this._transform._rotation00 + rot21 * this._transform._rotation10 + rot22 * this._transform._rotation20;
        __tmp__21 = rot20 * this._transform._rotation01 + rot21 * this._transform._rotation11 + rot22 * this._transform._rotation21;
        __tmp__22 = rot20 * this._transform._rotation02 + rot21 * this._transform._rotation12 + rot22 * this._transform._rotation22;
        this._transform._rotation00 = __tmp__00;
        this._transform._rotation01 = __tmp__01;
        this._transform._rotation02 = __tmp__02;
        this._transform._rotation10 = __tmp__10;
        this._transform._rotation11 = __tmp__11;
        this._transform._rotation12 = __tmp__12;
        this._transform._rotation20 = __tmp__20;
        this._transform._rotation21 = __tmp__21;
        this._transform._rotation22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__011 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__021 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__101 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__111 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__121 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__201 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__211 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__221 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;

        var __tmp__002;

        var __tmp__012;

        var __tmp__022;

        var __tmp__102;

        var __tmp__112;

        var __tmp__122;

        var __tmp__202;

        var __tmp__212;

        var __tmp__222;

        __tmp__002 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__012 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__022 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__102 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__112 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__122 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__202 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__212 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__222 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__002;
        this._invInertia01 = __tmp__012;
        this._invInertia02 = __tmp__022;
        this._invInertia10 = __tmp__102;
        this._invInertia11 = __tmp__112;
        this._invInertia12 = __tmp__122;
        this._invInertia20 = __tmp__202;
        this._invInertia21 = __tmp__212;
        this._invInertia22 = __tmp__222;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst7 = s._ptransform;
          var src1 = s._localTransform;

          var _tmp__55 = void 0;

          var _tmp__56 = void 0;

          var _tmp__57 = void 0;

          var _tmp__58 = void 0;

          var _tmp__59 = void 0;

          var _tmp__60 = void 0;

          var _tmp__61 = void 0;

          var _tmp__62 = void 0;

          var _tmp__63 = void 0;

          _tmp__55 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          _tmp__56 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          _tmp__57 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          _tmp__58 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          _tmp__59 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          _tmp__60 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          _tmp__61 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          _tmp__62 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          _tmp__63 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst7._rotation00 = _tmp__55;
          _dst7._rotation01 = _tmp__56;
          _dst7._rotation02 = _tmp__57;
          _dst7._rotation10 = _tmp__58;
          _dst7._rotation11 = _tmp__59;
          _dst7._rotation12 = _tmp__60;
          _dst7._rotation20 = _tmp__61;
          _dst7._rotation21 = _tmp__62;
          _dst7._rotation22 = _tmp__63;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst7._positionX = __tmp__X;
          _dst7._positionY = __tmp__Y;
          _dst7._positionZ = __tmp__Z;
          _dst7._positionX += tf1._positionX;
          _dst7._positionY += tf1._positionY;
          _dst7._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var _tmp__64 = void 0;

          var _tmp__65 = void 0;

          var _tmp__66 = void 0;

          var _tmp__67 = void 0;

          var _tmp__68 = void 0;

          var _tmp__69 = void 0;

          var _tmp__70 = void 0;

          var _tmp__71 = void 0;

          var _tmp__72 = void 0;

          _tmp__64 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          _tmp__65 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          _tmp__66 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          _tmp__67 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          _tmp__68 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          _tmp__69 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          _tmp__70 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          _tmp__71 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          _tmp__72 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = _tmp__64;
          dst1._rotation01 = _tmp__65;
          dst1._rotation02 = _tmp__66;
          dst1._rotation10 = _tmp__67;
          dst1._rotation11 = _tmp__68;
          dst1._rotation12 = _tmp__69;
          dst1._rotation20 = _tmp__70;
          dst1._rotation21 = _tmp__71;
          dst1._rotation22 = _tmp__72;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "rotateXyz",
      value: function rotateXyz(eulerAngles) {
        var xyzX;
        var xyzY;
        var xyzZ;
        var rot00;
        var rot01;
        var rot02;
        var rot10;
        var rot11;
        var rot12;
        var rot20;
        var rot21;
        var rot22;
        xyzX = eulerAngles.x;
        xyzY = eulerAngles.y;
        xyzZ = eulerAngles.z;
        var sx = Math.sin(xyzX);
        var sy = Math.sin(xyzY);
        var sz = Math.sin(xyzZ);
        var cx = Math.cos(xyzX);
        var cy = Math.cos(xyzY);
        var cz = Math.cos(xyzZ);
        rot00 = cy * cz;
        rot01 = -cy * sz;
        rot02 = sy;
        rot10 = cx * sz + cz * sx * sy;
        rot11 = cx * cz - sx * sy * sz;
        rot12 = -cy * sx;
        rot20 = sx * sz - cx * cz * sy;
        rot21 = cz * sx + cx * sy * sz;
        rot22 = cx * cy;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = rot00 * this._transform._rotation00 + rot01 * this._transform._rotation10 + rot02 * this._transform._rotation20;
        __tmp__01 = rot00 * this._transform._rotation01 + rot01 * this._transform._rotation11 + rot02 * this._transform._rotation21;
        __tmp__02 = rot00 * this._transform._rotation02 + rot01 * this._transform._rotation12 + rot02 * this._transform._rotation22;
        __tmp__10 = rot10 * this._transform._rotation00 + rot11 * this._transform._rotation10 + rot12 * this._transform._rotation20;
        __tmp__11 = rot10 * this._transform._rotation01 + rot11 * this._transform._rotation11 + rot12 * this._transform._rotation21;
        __tmp__12 = rot10 * this._transform._rotation02 + rot11 * this._transform._rotation12 + rot12 * this._transform._rotation22;
        __tmp__20 = rot20 * this._transform._rotation00 + rot21 * this._transform._rotation10 + rot22 * this._transform._rotation20;
        __tmp__21 = rot20 * this._transform._rotation01 + rot21 * this._transform._rotation11 + rot22 * this._transform._rotation21;
        __tmp__22 = rot20 * this._transform._rotation02 + rot21 * this._transform._rotation12 + rot22 * this._transform._rotation22;
        this._transform._rotation00 = __tmp__00;
        this._transform._rotation01 = __tmp__01;
        this._transform._rotation02 = __tmp__02;
        this._transform._rotation10 = __tmp__10;
        this._transform._rotation11 = __tmp__11;
        this._transform._rotation12 = __tmp__12;
        this._transform._rotation20 = __tmp__20;
        this._transform._rotation21 = __tmp__21;
        this._transform._rotation22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__011 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__021 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__101 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__111 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__121 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__201 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__211 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__221 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;

        var __tmp__002;

        var __tmp__012;

        var __tmp__022;

        var __tmp__102;

        var __tmp__112;

        var __tmp__122;

        var __tmp__202;

        var __tmp__212;

        var __tmp__222;

        __tmp__002 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__012 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__022 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__102 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__112 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__122 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__202 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__212 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__222 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__002;
        this._invInertia01 = __tmp__012;
        this._invInertia02 = __tmp__022;
        this._invInertia10 = __tmp__102;
        this._invInertia11 = __tmp__112;
        this._invInertia12 = __tmp__122;
        this._invInertia20 = __tmp__202;
        this._invInertia21 = __tmp__212;
        this._invInertia22 = __tmp__222;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst8 = s._ptransform;
          var src1 = s._localTransform;

          var _tmp__73 = void 0;

          var _tmp__74 = void 0;

          var _tmp__75 = void 0;

          var _tmp__76 = void 0;

          var _tmp__77 = void 0;

          var _tmp__78 = void 0;

          var _tmp__79 = void 0;

          var _tmp__80 = void 0;

          var _tmp__81 = void 0;

          _tmp__73 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          _tmp__74 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          _tmp__75 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          _tmp__76 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          _tmp__77 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          _tmp__78 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          _tmp__79 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          _tmp__80 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          _tmp__81 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst8._rotation00 = _tmp__73;
          _dst8._rotation01 = _tmp__74;
          _dst8._rotation02 = _tmp__75;
          _dst8._rotation10 = _tmp__76;
          _dst8._rotation11 = _tmp__77;
          _dst8._rotation12 = _tmp__78;
          _dst8._rotation20 = _tmp__79;
          _dst8._rotation21 = _tmp__80;
          _dst8._rotation22 = _tmp__81;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst8._positionX = __tmp__X;
          _dst8._positionY = __tmp__Y;
          _dst8._positionZ = __tmp__Z;
          _dst8._positionX += tf1._positionX;
          _dst8._positionY += tf1._positionY;
          _dst8._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var _tmp__82 = void 0;

          var _tmp__83 = void 0;

          var _tmp__84 = void 0;

          var _tmp__85 = void 0;

          var _tmp__86 = void 0;

          var _tmp__87 = void 0;

          var _tmp__88 = void 0;

          var _tmp__89 = void 0;

          var _tmp__90 = void 0;

          _tmp__82 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          _tmp__83 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          _tmp__84 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          _tmp__85 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          _tmp__86 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          _tmp__87 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          _tmp__88 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          _tmp__89 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          _tmp__90 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = _tmp__82;
          dst1._rotation01 = _tmp__83;
          dst1._rotation02 = _tmp__84;
          dst1._rotation10 = _tmp__85;
          dst1._rotation11 = _tmp__86;
          dst1._rotation12 = _tmp__87;
          dst1._rotation20 = _tmp__88;
          dst1._rotation21 = _tmp__89;
          dst1._rotation22 = _tmp__90;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getOrientation",
      value: function getOrientation() {
        var q = new oimo.common.Quat();
        var iqX;
        var iqY;
        var iqZ;
        var iqW;
        var e00 = this._transform._rotation00;
        var e11 = this._transform._rotation11;
        var e22 = this._transform._rotation22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          iqW = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._transform._rotation21 - this._transform._rotation12) * s;
          iqY = (this._transform._rotation02 - this._transform._rotation20) * s;
          iqZ = (this._transform._rotation10 - this._transform._rotation01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            iqX = 0.5 * s;
            s = 0.5 / s;
            iqY = (this._transform._rotation01 + this._transform._rotation10) * s;
            iqZ = (this._transform._rotation02 + this._transform._rotation20) * s;
            iqW = (this._transform._rotation21 - this._transform._rotation12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            iqZ = 0.5 * s;
            s = 0.5 / s;
            iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
            iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
            iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          iqY = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._transform._rotation01 + this._transform._rotation10) * s;
          iqZ = (this._transform._rotation12 + this._transform._rotation21) * s;
          iqW = (this._transform._rotation02 - this._transform._rotation20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          iqZ = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
          iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
          iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
        }

        q.x = iqX;
        q.y = iqY;
        q.z = iqZ;
        q.w = iqW;
        return q;
      }
    }, {
      key: "getOrientationTo",
      value: function getOrientationTo(orientation) {
        var iqX;
        var iqY;
        var iqZ;
        var iqW;
        var e00 = this._transform._rotation00;
        var e11 = this._transform._rotation11;
        var e22 = this._transform._rotation22;
        var t = e00 + e11 + e22;
        var s;

        if (t > 0) {
          s = Math.sqrt(t + 1);
          iqW = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._transform._rotation21 - this._transform._rotation12) * s;
          iqY = (this._transform._rotation02 - this._transform._rotation20) * s;
          iqZ = (this._transform._rotation10 - this._transform._rotation01) * s;
        } else if (e00 > e11) {
          if (e00 > e22) {
            s = Math.sqrt(e00 - e11 - e22 + 1);
            iqX = 0.5 * s;
            s = 0.5 / s;
            iqY = (this._transform._rotation01 + this._transform._rotation10) * s;
            iqZ = (this._transform._rotation02 + this._transform._rotation20) * s;
            iqW = (this._transform._rotation21 - this._transform._rotation12) * s;
          } else {
            s = Math.sqrt(e22 - e00 - e11 + 1);
            iqZ = 0.5 * s;
            s = 0.5 / s;
            iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
            iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
            iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
          }
        } else if (e11 > e22) {
          s = Math.sqrt(e11 - e22 - e00 + 1);
          iqY = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._transform._rotation01 + this._transform._rotation10) * s;
          iqZ = (this._transform._rotation12 + this._transform._rotation21) * s;
          iqW = (this._transform._rotation02 - this._transform._rotation20) * s;
        } else {
          s = Math.sqrt(e22 - e00 - e11 + 1);
          iqZ = 0.5 * s;
          s = 0.5 / s;
          iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
          iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
          iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
        }

        orientation.x = iqX;
        orientation.y = iqY;
        orientation.z = iqZ;
        orientation.w = iqW;
      }
    }, {
      key: "setOrientation",
      value: function setOrientation(quaternion) {
        var qX;
        var qY;
        var qZ;
        var qW;
        qX = quaternion.x;
        qY = quaternion.y;
        qZ = quaternion.z;
        qW = quaternion.w;
        var x = qX;
        var y = qY;
        var z = qZ;
        var w = qW;
        var x2 = 2 * x;
        var y2 = 2 * y;
        var z2 = 2 * z;
        var xx = x * x2;
        var yy = y * y2;
        var zz = z * z2;
        var xy = x * y2;
        var yz = y * z2;
        var xz = x * z2;
        var wx = w * x2;
        var wy = w * y2;
        var wz = w * z2;
        this._transform._rotation00 = 1 - yy - zz;
        this._transform._rotation01 = xy - wz;
        this._transform._rotation02 = xz + wy;
        this._transform._rotation10 = xy + wz;
        this._transform._rotation11 = 1 - xx - zz;
        this._transform._rotation12 = yz - wx;
        this._transform._rotation20 = xz - wy;
        this._transform._rotation21 = yz + wx;
        this._transform._rotation22 = 1 - xx - yy;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__00;
        this._invInertia01 = __tmp__01;
        this._invInertia02 = __tmp__02;
        this._invInertia10 = __tmp__10;
        this._invInertia11 = __tmp__11;
        this._invInertia12 = __tmp__12;
        this._invInertia20 = __tmp__20;
        this._invInertia21 = __tmp__21;
        this._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst9 = s._ptransform;
          var src1 = s._localTransform;

          var _tmp__91 = void 0;

          var _tmp__92 = void 0;

          var _tmp__93 = void 0;

          var _tmp__94 = void 0;

          var _tmp__95 = void 0;

          var _tmp__96 = void 0;

          var _tmp__97 = void 0;

          var _tmp__98 = void 0;

          var _tmp__99 = void 0;

          _tmp__91 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          _tmp__92 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          _tmp__93 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          _tmp__94 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          _tmp__95 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          _tmp__96 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          _tmp__97 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          _tmp__98 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          _tmp__99 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst9._rotation00 = _tmp__91;
          _dst9._rotation01 = _tmp__92;
          _dst9._rotation02 = _tmp__93;
          _dst9._rotation10 = _tmp__94;
          _dst9._rotation11 = _tmp__95;
          _dst9._rotation12 = _tmp__96;
          _dst9._rotation20 = _tmp__97;
          _dst9._rotation21 = _tmp__98;
          _dst9._rotation22 = _tmp__99;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst9._positionX = __tmp__X;
          _dst9._positionY = __tmp__Y;
          _dst9._positionZ = __tmp__Z;
          _dst9._positionX += tf1._positionX;
          _dst9._positionY += tf1._positionY;
          _dst9._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var _tmp__100 = void 0;

          var _tmp__101 = void 0;

          var _tmp__102 = void 0;

          var _tmp__103 = void 0;

          var _tmp__104 = void 0;

          var _tmp__105 = void 0;

          var _tmp__106 = void 0;

          var _tmp__107 = void 0;

          var _tmp__108 = void 0;

          _tmp__100 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          _tmp__101 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          _tmp__102 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          _tmp__103 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          _tmp__104 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          _tmp__105 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          _tmp__106 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          _tmp__107 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          _tmp__108 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = _tmp__100;
          dst1._rotation01 = _tmp__101;
          dst1._rotation02 = _tmp__102;
          dst1._rotation10 = _tmp__103;
          dst1._rotation11 = _tmp__104;
          dst1._rotation12 = _tmp__105;
          dst1._rotation20 = _tmp__106;
          dst1._rotation21 = _tmp__107;
          dst1._rotation22 = _tmp__108;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getTransform",
      value: function getTransform() {
        var _this = this._transform;
        var tf = new oimo.common.Transform();
        tf._positionX = _this._positionX;
        tf._positionY = _this._positionY;
        tf._positionZ = _this._positionZ;
        tf._rotation00 = _this._rotation00;
        tf._rotation01 = _this._rotation01;
        tf._rotation02 = _this._rotation02;
        tf._rotation10 = _this._rotation10;
        tf._rotation11 = _this._rotation11;
        tf._rotation12 = _this._rotation12;
        tf._rotation20 = _this._rotation20;
        tf._rotation21 = _this._rotation21;
        tf._rotation22 = _this._rotation22;
        return tf;
      }
    }, {
      key: "getTransformTo",
      value: function getTransformTo(transform) {
        var transform1 = this._transform;
        transform._positionX = transform1._positionX;
        transform._positionY = transform1._positionY;
        transform._positionZ = transform1._positionZ;
        transform._rotation00 = transform1._rotation00;
        transform._rotation01 = transform1._rotation01;
        transform._rotation02 = transform1._rotation02;
        transform._rotation10 = transform1._rotation10;
        transform._rotation11 = transform1._rotation11;
        transform._rotation12 = transform1._rotation12;
        transform._rotation20 = transform1._rotation20;
        transform._rotation21 = transform1._rotation21;
        transform._rotation22 = transform1._rotation22;
      }
    }, {
      key: "setTransform",
      value: function setTransform(transform) {
        this._transform._positionX = transform._positionX;
        this._transform._positionY = transform._positionY;
        this._transform._positionZ = transform._positionZ;
        this._transform._rotation00 = transform._rotation00;
        this._transform._rotation01 = transform._rotation01;
        this._transform._rotation02 = transform._rotation02;
        this._transform._rotation10 = transform._rotation10;
        this._transform._rotation11 = transform._rotation11;
        this._transform._rotation12 = transform._rotation12;
        this._transform._rotation20 = transform._rotation20;
        this._transform._rotation21 = transform._rotation21;
        this._transform._rotation22 = transform._rotation22;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__00;
        this._invInertia01 = __tmp__01;
        this._invInertia02 = __tmp__02;
        this._invInertia10 = __tmp__10;
        this._invInertia11 = __tmp__11;
        this._invInertia12 = __tmp__12;
        this._invInertia20 = __tmp__20;
        this._invInertia21 = __tmp__21;
        this._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        var dst = this._ptransform;
        var src = this._transform;
        dst._positionX = src._positionX;
        dst._positionY = src._positionY;
        dst._positionZ = src._positionZ;
        dst._rotation00 = src._rotation00;
        dst._rotation01 = src._rotation01;
        dst._rotation02 = src._rotation02;
        dst._rotation10 = src._rotation10;
        dst._rotation11 = src._rotation11;
        dst._rotation12 = src._rotation12;
        dst._rotation20 = src._rotation20;
        dst._rotation21 = src._rotation21;
        dst._rotation22 = src._rotation22;
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var _dst10 = s._ptransform;
          var src1 = s._localTransform;

          var _tmp__109 = void 0;

          var _tmp__110 = void 0;

          var _tmp__111 = void 0;

          var _tmp__112 = void 0;

          var _tmp__113 = void 0;

          var _tmp__114 = void 0;

          var _tmp__115 = void 0;

          var _tmp__116 = void 0;

          var _tmp__117 = void 0;

          _tmp__109 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          _tmp__110 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          _tmp__111 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          _tmp__112 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          _tmp__113 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          _tmp__114 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          _tmp__115 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          _tmp__116 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          _tmp__117 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          _dst10._rotation00 = _tmp__109;
          _dst10._rotation01 = _tmp__110;
          _dst10._rotation02 = _tmp__111;
          _dst10._rotation10 = _tmp__112;
          _dst10._rotation11 = _tmp__113;
          _dst10._rotation12 = _tmp__114;
          _dst10._rotation20 = _tmp__115;
          _dst10._rotation21 = _tmp__116;
          _dst10._rotation22 = _tmp__117;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          _dst10._positionX = __tmp__X;
          _dst10._positionY = __tmp__Y;
          _dst10._positionZ = __tmp__Z;
          _dst10._positionX += tf1._positionX;
          _dst10._positionY += tf1._positionY;
          _dst10._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var _tmp__118 = void 0;

          var _tmp__119 = void 0;

          var _tmp__120 = void 0;

          var _tmp__121 = void 0;

          var _tmp__122 = void 0;

          var _tmp__123 = void 0;

          var _tmp__124 = void 0;

          var _tmp__125 = void 0;

          var _tmp__126 = void 0;

          _tmp__118 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          _tmp__119 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          _tmp__120 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          _tmp__121 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          _tmp__122 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          _tmp__123 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          _tmp__124 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          _tmp__125 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          _tmp__126 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = _tmp__118;
          dst1._rotation01 = _tmp__119;
          dst1._rotation02 = _tmp__120;
          dst1._rotation10 = _tmp__121;
          dst1._rotation11 = _tmp__122;
          dst1._rotation12 = _tmp__123;
          dst1._rotation20 = _tmp__124;
          dst1._rotation21 = _tmp__125;
          dst1._rotation22 = _tmp__126;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getMass",
      value: function getMass() {
        return this._mass;
      }
    }, {
      key: "getLocalInertia",
      value: function getLocalInertia() {
        var m = new oimo.common.Mat3();
        m.e00 = this._localInertia00;
        m.e01 = this._localInertia01;
        m.e02 = this._localInertia02;
        m.e10 = this._localInertia10;
        m.e11 = this._localInertia11;
        m.e12 = this._localInertia12;
        m.e20 = this._localInertia20;
        m.e21 = this._localInertia21;
        m.e22 = this._localInertia22;
        return m;
      }
    }, {
      key: "getLocalInertiaTo",
      value: function getLocalInertiaTo(inertia) {
        inertia.e00 = this._localInertia00;
        inertia.e01 = this._localInertia01;
        inertia.e02 = this._localInertia02;
        inertia.e10 = this._localInertia10;
        inertia.e11 = this._localInertia11;
        inertia.e12 = this._localInertia12;
        inertia.e20 = this._localInertia20;
        inertia.e21 = this._localInertia21;
        inertia.e22 = this._localInertia22;
      }
    }, {
      key: "getMassData",
      value: function getMassData() {
        var md = new oimo.dynamics.rigidbody.MassData();
        md.mass = this._mass;
        var m = md.localInertia;
        m.e00 = this._localInertia00;
        m.e01 = this._localInertia01;
        m.e02 = this._localInertia02;
        m.e10 = this._localInertia10;
        m.e11 = this._localInertia11;
        m.e12 = this._localInertia12;
        m.e20 = this._localInertia20;
        m.e21 = this._localInertia21;
        m.e22 = this._localInertia22;
        return md;
      }
    }, {
      key: "getMassDataTo",
      value: function getMassDataTo(massData) {
        massData.mass = this._mass;
        var m = massData.localInertia;
        m.e00 = this._localInertia00;
        m.e01 = this._localInertia01;
        m.e02 = this._localInertia02;
        m.e10 = this._localInertia10;
        m.e11 = this._localInertia11;
        m.e12 = this._localInertia12;
        m.e20 = this._localInertia20;
        m.e21 = this._localInertia21;
        m.e22 = this._localInertia22;
      }
    }, {
      key: "setMassData",
      value: function setMassData(massData) {
        this._mass = massData.mass;
        var m = massData.localInertia;
        this._localInertia00 = m.e00;
        this._localInertia01 = m.e01;
        this._localInertia02 = m.e02;
        this._localInertia10 = m.e10;
        this._localInertia11 = m.e11;
        this._localInertia12 = m.e12;
        this._localInertia20 = m.e20;
        this._localInertia21 = m.e21;
        this._localInertia22 = m.e22;

        if (this._mass > 0 && this._localInertia00 * (this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21) - this._localInertia01 * (this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20) + this._localInertia02 * (this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20) > 0 && this._type == 0) {
          this._invMass = 1 / this._mass;
          var d00 = this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21;
          var d01 = this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20;
          var d02 = this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20;
          var d = this._localInertia00 * d00 - this._localInertia01 * d01 + this._localInertia02 * d02;

          if (d < -1e-32 || d > 1e-32) {
            d = 1 / d;
          }

          this._invLocalInertia00 = d00 * d;
          this._invLocalInertia01 = -(this._localInertia01 * this._localInertia22 - this._localInertia02 * this._localInertia21) * d;
          this._invLocalInertia02 = (this._localInertia01 * this._localInertia12 - this._localInertia02 * this._localInertia11) * d;
          this._invLocalInertia10 = -d01 * d;
          this._invLocalInertia11 = (this._localInertia00 * this._localInertia22 - this._localInertia02 * this._localInertia20) * d;
          this._invLocalInertia12 = -(this._localInertia00 * this._localInertia12 - this._localInertia02 * this._localInertia10) * d;
          this._invLocalInertia20 = d02 * d;
          this._invLocalInertia21 = -(this._localInertia00 * this._localInertia21 - this._localInertia01 * this._localInertia20) * d;
          this._invLocalInertia22 = (this._localInertia00 * this._localInertia11 - this._localInertia01 * this._localInertia10) * d;
          this._invLocalInertiaWithoutRotFactor00 = this._invLocalInertia00;
          this._invLocalInertiaWithoutRotFactor01 = this._invLocalInertia01;
          this._invLocalInertiaWithoutRotFactor02 = this._invLocalInertia02;
          this._invLocalInertiaWithoutRotFactor10 = this._invLocalInertia10;
          this._invLocalInertiaWithoutRotFactor11 = this._invLocalInertia11;
          this._invLocalInertiaWithoutRotFactor12 = this._invLocalInertia12;
          this._invLocalInertiaWithoutRotFactor20 = this._invLocalInertia20;
          this._invLocalInertiaWithoutRotFactor21 = this._invLocalInertia21;
          this._invLocalInertiaWithoutRotFactor22 = this._invLocalInertia22;
          this._invLocalInertia00 = this._invLocalInertiaWithoutRotFactor00 * this._rotFactor.x;
          this._invLocalInertia01 = this._invLocalInertiaWithoutRotFactor01 * this._rotFactor.x;
          this._invLocalInertia02 = this._invLocalInertiaWithoutRotFactor02 * this._rotFactor.x;
          this._invLocalInertia10 = this._invLocalInertiaWithoutRotFactor10 * this._rotFactor.y;
          this._invLocalInertia11 = this._invLocalInertiaWithoutRotFactor11 * this._rotFactor.y;
          this._invLocalInertia12 = this._invLocalInertiaWithoutRotFactor12 * this._rotFactor.y;
          this._invLocalInertia20 = this._invLocalInertiaWithoutRotFactor20 * this._rotFactor.z;
          this._invLocalInertia21 = this._invLocalInertiaWithoutRotFactor21 * this._rotFactor.z;
          this._invLocalInertia22 = this._invLocalInertiaWithoutRotFactor22 * this._rotFactor.z;
        } else {
          this._invMass = 0;
          this._invLocalInertia00 = 0;
          this._invLocalInertia01 = 0;
          this._invLocalInertia02 = 0;
          this._invLocalInertia10 = 0;
          this._invLocalInertia11 = 0;
          this._invLocalInertia12 = 0;
          this._invLocalInertia20 = 0;
          this._invLocalInertia21 = 0;
          this._invLocalInertia22 = 0;
          this._invLocalInertiaWithoutRotFactor00 = 0;
          this._invLocalInertiaWithoutRotFactor01 = 0;
          this._invLocalInertiaWithoutRotFactor02 = 0;
          this._invLocalInertiaWithoutRotFactor10 = 0;
          this._invLocalInertiaWithoutRotFactor11 = 0;
          this._invLocalInertiaWithoutRotFactor12 = 0;
          this._invLocalInertiaWithoutRotFactor20 = 0;
          this._invLocalInertiaWithoutRotFactor21 = 0;
          this._invLocalInertiaWithoutRotFactor22 = 0;

          if (this._type == 0) {
            this._type = 1;
          }
        }

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__00;
        this._invInertia01 = __tmp__01;
        this._invInertia02 = __tmp__02;
        this._invInertia10 = __tmp__10;
        this._invInertia11 = __tmp__11;
        this._invInertia12 = __tmp__12;
        this._invInertia20 = __tmp__20;
        this._invInertia21 = __tmp__21;
        this._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getRotationFactor",
      value: function getRotationFactor() {
        var _this = this._rotFactor;
        return new oimo.common.Vec3(_this.x, _this.y, _this.z);
      }
    }, {
      key: "setRotationFactor",
      value: function setRotationFactor(rotationFactor) {
        var _this = this._rotFactor;
        _this.x = rotationFactor.x;
        _this.y = rotationFactor.y;
        _this.z = rotationFactor.z;

        var __tmp__00;

        var __tmp__01;

        var __tmp__02;

        var __tmp__10;

        var __tmp__11;

        var __tmp__12;

        var __tmp__20;

        var __tmp__21;

        var __tmp__22;

        __tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
        __tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
        __tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
        __tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
        __tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
        __tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
        __tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
        __tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
        __tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
        this._invInertia00 = __tmp__00;
        this._invInertia01 = __tmp__01;
        this._invInertia02 = __tmp__02;
        this._invInertia10 = __tmp__10;
        this._invInertia11 = __tmp__11;
        this._invInertia12 = __tmp__12;
        this._invInertia20 = __tmp__20;
        this._invInertia21 = __tmp__21;
        this._invInertia22 = __tmp__22;

        var __tmp__001;

        var __tmp__011;

        var __tmp__021;

        var __tmp__101;

        var __tmp__111;

        var __tmp__121;

        var __tmp__201;

        var __tmp__211;

        var __tmp__221;

        __tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
        __tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
        __tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
        __tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
        __tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
        __tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
        __tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
        __tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
        __tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
        this._invInertia00 = __tmp__001;
        this._invInertia01 = __tmp__011;
        this._invInertia02 = __tmp__021;
        this._invInertia10 = __tmp__101;
        this._invInertia11 = __tmp__111;
        this._invInertia12 = __tmp__121;
        this._invInertia20 = __tmp__201;
        this._invInertia21 = __tmp__211;
        this._invInertia22 = __tmp__221;
        this._invInertia00 *= this._rotFactor.x;
        this._invInertia01 *= this._rotFactor.x;
        this._invInertia02 *= this._rotFactor.x;
        this._invInertia10 *= this._rotFactor.y;
        this._invInertia11 *= this._rotFactor.y;
        this._invInertia12 *= this._rotFactor.y;
        this._invInertia20 *= this._rotFactor.z;
        this._invInertia21 *= this._rotFactor.z;
        this._invInertia22 *= this._rotFactor.z;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getLinearVelocity",
      value: function getLinearVelocity() {
        var v = new oimo.common.Vec3();
        v.x = this._velX;
        v.y = this._velY;
        v.z = this._velZ;
        return v;
      }
    }, {
      key: "getLinearVelocityTo",
      value: function getLinearVelocityTo(linearVelocity) {
        linearVelocity.x = this._velX;
        linearVelocity.y = this._velY;
        linearVelocity.z = this._velZ;
      }
    }, {
      key: "setLinearVelocity",
      value: function setLinearVelocity(linearVelocity) {
        if (this._type == 1) {
          this._velX = 0;
          this._velY = 0;
          this._velZ = 0;
        } else {
          this._velX = linearVelocity.x;
          this._velY = linearVelocity.y;
          this._velZ = linearVelocity.z;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getAngularVelocity",
      value: function getAngularVelocity() {
        var v = new oimo.common.Vec3();
        v.x = this._angVelX;
        v.y = this._angVelY;
        v.z = this._angVelZ;
        return v;
      }
    }, {
      key: "getAngularVelocityTo",
      value: function getAngularVelocityTo(angularVelocity) {
        angularVelocity.x = this._velX;
        angularVelocity.y = this._velY;
        angularVelocity.z = this._velZ;
      }
    }, {
      key: "setAngularVelocity",
      value: function setAngularVelocity(angularVelocity) {
        if (this._type == 1) {
          this._angVelX = 0;
          this._angVelY = 0;
          this._angVelZ = 0;
        } else {
          this._angVelX = angularVelocity.x;
          this._angVelY = angularVelocity.y;
          this._angVelZ = angularVelocity.z;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "addLinearVelocity",
      value: function addLinearVelocity(linearVelocityChange) {
        if (this._type != 1) {
          var dX;
          var dY;
          var dZ;
          dX = linearVelocityChange.x;
          dY = linearVelocityChange.y;
          dZ = linearVelocityChange.z;
          this._velX += dX;
          this._velY += dY;
          this._velZ += dZ;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "addAngularVelocity",
      value: function addAngularVelocity(angularVelocityChange) {
        if (this._type != 1) {
          var dX;
          var dY;
          var dZ;
          dX = angularVelocityChange.x;
          dY = angularVelocityChange.y;
          dZ = angularVelocityChange.z;
          this._angVelX += dX;
          this._angVelY += dY;
          this._angVelZ += dZ;
        }

        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "applyImpulse",
      value: function applyImpulse(impulse, positionInWorld) {
        var impX;
        var impY;
        var impZ;
        impX = impulse.x;
        impY = impulse.y;
        impZ = impulse.z;
        this._velX += impX * this._invMass;
        this._velY += impY * this._invMass;
        this._velZ += impZ * this._invMass;
        var aimpX;
        var aimpY;
        var aimpZ;
        var posX;
        var posY;
        var posZ;
        posX = positionInWorld.x;
        posY = positionInWorld.y;
        posZ = positionInWorld.z;
        posX -= this._transform._positionX;
        posY -= this._transform._positionY;
        posZ -= this._transform._positionZ;
        aimpX = posY * impZ - posZ * impY;
        aimpY = posZ * impX - posX * impZ;
        aimpZ = posX * impY - posY * impX;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._invInertia00 * aimpX + this._invInertia01 * aimpY + this._invInertia02 * aimpZ;
        __tmp__Y = this._invInertia10 * aimpX + this._invInertia11 * aimpY + this._invInertia12 * aimpZ;
        __tmp__Z = this._invInertia20 * aimpX + this._invInertia21 * aimpY + this._invInertia22 * aimpZ;
        aimpX = __tmp__X;
        aimpY = __tmp__Y;
        aimpZ = __tmp__Z;
        this._angVelX += aimpX;
        this._angVelY += aimpY;
        this._angVelZ += aimpZ;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "applyLinearImpulse",
      value: function applyLinearImpulse(impulse) {
        var impX;
        var impY;
        var impZ;
        impX = impulse.x;
        impY = impulse.y;
        impZ = impulse.z;
        this._velX += impX * this._invMass;
        this._velY += impY * this._invMass;
        this._velZ += impZ * this._invMass;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "applyAngularImpulse",
      value: function applyAngularImpulse(impulse) {
        var impX;
        var impY;
        var impZ;
        impX = impulse.x;
        impY = impulse.y;
        impZ = impulse.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._invInertia00 * impX + this._invInertia01 * impY + this._invInertia02 * impZ;
        __tmp__Y = this._invInertia10 * impX + this._invInertia11 * impY + this._invInertia12 * impZ;
        __tmp__Z = this._invInertia20 * impX + this._invInertia21 * impY + this._invInertia22 * impZ;
        impX = __tmp__X;
        impY = __tmp__Y;
        impZ = __tmp__Z;
        this._angVelX += impX;
        this._angVelY += impY;
        this._angVelZ += impZ;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "applyForce",
      value: function applyForce(force, positionInWorld) {
        var iforceX;
        var iforceY;
        var iforceZ;
        iforceX = force.x;
        iforceY = force.y;
        iforceZ = force.z;
        this._forceX += iforceX;
        this._forceY += iforceY;
        this._forceZ += iforceZ;
        var itorqueX;
        var itorqueY;
        var itorqueZ;
        var posX;
        var posY;
        var posZ;
        posX = positionInWorld.x;
        posY = positionInWorld.y;
        posZ = positionInWorld.z;
        posX -= this._transform._positionX;
        posY -= this._transform._positionY;
        posZ -= this._transform._positionZ;
        itorqueX = posY * iforceZ - posZ * iforceY;
        itorqueY = posZ * iforceX - posX * iforceZ;
        itorqueZ = posX * iforceY - posY * iforceX;
        this._torqueX += itorqueX;
        this._torqueY += itorqueY;
        this._torqueZ += itorqueZ;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "applyForceToCenter",
      value: function applyForceToCenter(force) {
        var iforceX;
        var iforceY;
        var iforceZ;
        iforceX = force.x;
        iforceY = force.y;
        iforceZ = force.z;
        this._forceX += iforceX;
        this._forceY += iforceY;
        this._forceZ += iforceZ;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "applyTorque",
      value: function applyTorque(torque) {
        var itorqueX;
        var itorqueY;
        var itorqueZ;
        itorqueX = torque.x;
        itorqueY = torque.y;
        itorqueZ = torque.z;
        this._torqueX += itorqueX;
        this._torqueY += itorqueY;
        this._torqueZ += itorqueZ;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getLinearContactImpulse",
      value: function getLinearContactImpulse() {
        var res = new oimo.common.Vec3();
        res.x = this._linearContactImpulseX;
        res.y = this._linearContactImpulseY;
        res.z = this._linearContactImpulseZ;
        return res;
      }
    }, {
      key: "getLinearContactImpulseTo",
      value: function getLinearContactImpulseTo(linearContactImpulse) {
        linearContactImpulse.x = this._linearContactImpulseX;
        linearContactImpulse.y = this._linearContactImpulseY;
        linearContactImpulse.z = this._linearContactImpulseZ;
      }
    }, {
      key: "getAngularContactImpulse",
      value: function getAngularContactImpulse() {
        var res = new oimo.common.Vec3();
        res.x = this._angularContactImpulseX;
        res.y = this._angularContactImpulseY;
        res.z = this._angularContactImpulseZ;
        return res;
      }
    }, {
      key: "getAngularContactImpulseTo",
      value: function getAngularContactImpulseTo(angularContactImpulse) {
        angularContactImpulse.x = this._angularContactImpulseX;
        angularContactImpulse.y = this._angularContactImpulseY;
        angularContactImpulse.z = this._angularContactImpulseZ;
      }
    }, {
      key: "getGravityScale",
      value: function getGravityScale() {
        return this._gravityScale;
      }
    }, {
      key: "setGravityScale",
      value: function setGravityScale(gravityScale) {
        this._gravityScale = gravityScale;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getLocalPoint",
      value: function getLocalPoint(worldPoint) {
        var vX;
        var vY;
        var vZ;
        vX = worldPoint.x;
        vY = worldPoint.y;
        vZ = worldPoint.z;
        vX -= this._transform._positionX;
        vY -= this._transform._positionY;
        vZ -= this._transform._positionZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
        __tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
        __tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        var res = new oimo.common.Vec3();
        res.x = vX;
        res.y = vY;
        res.z = vZ;
        return res;
      }
    }, {
      key: "getLocalPointTo",
      value: function getLocalPointTo(worldPoint, localPoint) {
        var vX;
        var vY;
        var vZ;
        vX = worldPoint.x;
        vY = worldPoint.y;
        vZ = worldPoint.z;
        vX -= this._transform._positionX;
        vY -= this._transform._positionY;
        vZ -= this._transform._positionZ;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
        __tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
        __tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localPoint.x = vX;
        localPoint.y = vY;
        localPoint.z = vZ;
      }
    }, {
      key: "getLocalVector",
      value: function getLocalVector(worldVector) {
        var vX;
        var vY;
        var vZ;
        vX = worldVector.x;
        vY = worldVector.y;
        vZ = worldVector.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
        __tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
        __tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        var res = new oimo.common.Vec3();
        res.x = vX;
        res.y = vY;
        res.z = vZ;
        return res;
      }
    }, {
      key: "getLocalVectorTo",
      value: function getLocalVectorTo(worldVector, localVector) {
        var vX;
        var vY;
        var vZ;
        vX = worldVector.x;
        vY = worldVector.y;
        vZ = worldVector.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
        __tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
        __tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        localVector.x = vX;
        localVector.y = vY;
        localVector.z = vZ;
      }
    }, {
      key: "getWorldPoint",
      value: function getWorldPoint(localPoint) {
        var vX;
        var vY;
        var vZ;
        vX = localPoint.x;
        vY = localPoint.y;
        vZ = localPoint.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
        __tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
        __tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        vX += this._transform._positionX;
        vY += this._transform._positionY;
        vZ += this._transform._positionZ;
        var res = new oimo.common.Vec3();
        res.x = vX;
        res.y = vY;
        res.z = vZ;
        return res;
      }
    }, {
      key: "getWorldPointTo",
      value: function getWorldPointTo(localPoint, worldPoint) {
        var vX;
        var vY;
        var vZ;
        vX = localPoint.x;
        vY = localPoint.y;
        vZ = localPoint.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
        __tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
        __tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        vX += this._transform._positionX;
        vY += this._transform._positionY;
        vZ += this._transform._positionZ;
        worldPoint.x = vX;
        worldPoint.y = vY;
        worldPoint.z = vZ;
      }
    }, {
      key: "getWorldVector",
      value: function getWorldVector(localVector) {
        var vX;
        var vY;
        var vZ;
        vX = localVector.x;
        vY = localVector.y;
        vZ = localVector.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
        __tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
        __tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        var res = new oimo.common.Vec3();
        res.x = vX;
        res.y = vY;
        res.z = vZ;
        return res;
      }
    }, {
      key: "getWorldVectorTo",
      value: function getWorldVectorTo(localVector, worldVector) {
        var vX;
        var vY;
        var vZ;
        vX = localVector.x;
        vY = localVector.y;
        vZ = localVector.z;

        var __tmp__X;

        var __tmp__Y;

        var __tmp__Z;

        __tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
        __tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
        __tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
        vX = __tmp__X;
        vY = __tmp__Y;
        vZ = __tmp__Z;
        worldVector.x = vX;
        worldVector.y = vY;
        worldVector.z = vZ;
      }
    }, {
      key: "getNumShapes",
      value: function getNumShapes() {
        return this._numShapes;
      }
    }, {
      key: "getShapeList",
      value: function getShapeList() {
        return this._shapeList;
      }
    }, {
      key: "getNumContectLinks",
      value: function getNumContectLinks() {
        return this._numContactLinks;
      }
    }, {
      key: "getContactLinkList",
      value: function getContactLinkList() {
        return this._contactLinkList;
      }
    }, {
      key: "getNumJointLinks",
      value: function getNumJointLinks() {
        return this._numJointLinks;
      }
    }, {
      key: "getJointLinkList",
      value: function getJointLinkList() {
        return this._jointLinkList;
      }
    }, {
      key: "addShape",
      value: function addShape(shape) {
        if (this._shapeList == null) {
          this._shapeList = shape;
          this._shapeListLast = shape;
        } else {
          this._shapeListLast._next = shape;
          shape._prev = this._shapeListLast;
          this._shapeListLast = shape;
        }

        this._numShapes++;
        shape._rigidBody = this;

        if (this._world != null) {
          var _this = this._world;
          shape._proxy = _this._broadPhase.createProxy(shape, shape._aabb);
          shape._id = _this._shapeIdCount++;
          _this._numShapes++;
        }

        this.updateMass();
        var s = this._shapeList;

        while (s != null) {
          var n = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var dst = s._ptransform;
          var src1 = s._localTransform;

          var __tmp__00 = void 0;

          var __tmp__01 = void 0;

          var __tmp__02 = void 0;

          var __tmp__10 = void 0;

          var __tmp__11 = void 0;

          var __tmp__12 = void 0;

          var __tmp__20 = void 0;

          var __tmp__21 = void 0;

          var __tmp__22 = void 0;

          __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          dst._rotation00 = __tmp__00;
          dst._rotation01 = __tmp__01;
          dst._rotation02 = __tmp__02;
          dst._rotation10 = __tmp__10;
          dst._rotation11 = __tmp__11;
          dst._rotation12 = __tmp__12;
          dst._rotation20 = __tmp__20;
          dst._rotation21 = __tmp__21;
          dst._rotation22 = __tmp__22;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          dst._positionX = __tmp__X;
          dst._positionY = __tmp__Y;
          dst._positionZ = __tmp__Z;
          dst._positionX += tf1._positionX;
          dst._positionY += tf1._positionY;
          dst._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var __tmp__001 = void 0;

          var __tmp__011 = void 0;

          var __tmp__021 = void 0;

          var __tmp__101 = void 0;

          var __tmp__111 = void 0;

          var __tmp__121 = void 0;

          var __tmp__201 = void 0;

          var __tmp__211 = void 0;

          var __tmp__221 = void 0;

          __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = __tmp__001;
          dst1._rotation01 = __tmp__011;
          dst1._rotation02 = __tmp__021;
          dst1._rotation10 = __tmp__101;
          dst1._rotation11 = __tmp__111;
          dst1._rotation12 = __tmp__121;
          dst1._rotation20 = __tmp__201;
          dst1._rotation21 = __tmp__211;
          dst1._rotation22 = __tmp__221;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = n;
        }
      }
    }, {
      key: "removeShape",
      value: function removeShape(shape) {
        var prev = shape._prev;
        var next = shape._next;

        if (prev != null) {
          prev._next = next;
        }

        if (next != null) {
          next._prev = prev;
        }

        if (shape == this._shapeList) {
          this._shapeList = this._shapeList._next;
        }

        if (shape == this._shapeListLast) {
          this._shapeListLast = this._shapeListLast._prev;
        }

        shape._next = null;
        shape._prev = null;
        this._numShapes--;
        shape._rigidBody = null;

        if (this._world != null) {
          var _this = this._world;

          _this._broadPhase.destroyProxy(shape._proxy);

          shape._proxy = null;
          shape._id = -1;
          var cl = shape._rigidBody._contactLinkList;

          while (cl != null) {
            var n = cl._next;
            var c = cl._contact;

            if (c._s1 == shape || c._s2 == shape) {
              var _this1 = cl._other;
              _this1._sleeping = false;
              _this1._sleepTime = 0;
              var _this2 = _this._contactManager;
              var _prev5 = c._prev;
              var _next5 = c._next;

              if (_prev5 != null) {
                _prev5._next = _next5;
              }

              if (_next5 != null) {
                _next5._prev = _prev5;
              }

              if (c == _this2._contactList) {
                _this2._contactList = _this2._contactList._next;
              }

              if (c == _this2._contactListLast) {
                _this2._contactListLast = _this2._contactListLast._prev;
              }

              c._next = null;
              c._prev = null;

              if (c._touching) {
                var cc1 = c._s1._contactCallback;
                var cc2 = c._s2._contactCallback;

                if (cc1 == cc2) {
                  cc2 = null;
                }

                if (cc1 != null) {
                  cc1.endContact(c);
                }

                if (cc2 != null) {
                  cc2.endContact(c);
                }
              }

              var prev1 = c._link1._prev;
              var next1 = c._link1._next;

              if (prev1 != null) {
                prev1._next = next1;
              }

              if (next1 != null) {
                next1._prev = prev1;
              }

              if (c._link1 == c._b1._contactLinkList) {
                c._b1._contactLinkList = c._b1._contactLinkList._next;
              }

              if (c._link1 == c._b1._contactLinkListLast) {
                c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
              }

              c._link1._next = null;
              c._link1._prev = null;
              var prev2 = c._link2._prev;
              var next2 = c._link2._next;

              if (prev2 != null) {
                prev2._next = next2;
              }

              if (next2 != null) {
                next2._prev = prev2;
              }

              if (c._link2 == c._b2._contactLinkList) {
                c._b2._contactLinkList = c._b2._contactLinkList._next;
              }

              if (c._link2 == c._b2._contactLinkListLast) {
                c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
              }

              c._link2._next = null;
              c._link2._prev = null;
              c._b1._numContactLinks--;
              c._b2._numContactLinks--;
              c._link1._other = null;
              c._link2._other = null;
              c._link1._contact = null;
              c._link2._contact = null;
              c._s1 = null;
              c._s2 = null;
              c._b1 = null;
              c._b2 = null;
              c._touching = false;

              c._cachedDetectorData._clear();

              c._manifold._clear();

              c._detector = null;
              var _this3 = c._contactConstraint;
              _this3._s1 = null;
              _this3._s2 = null;
              _this3._b1 = null;
              _this3._b2 = null;
              _this3._tf1 = null;
              _this3._tf2 = null;
              c._next = _this2._contactPool;
              _this2._contactPool = c;
              _this2._numContacts--;
            }

            cl = n;
          }

          _this._numShapes--;
        }

        this.updateMass();
        var s = this._shapeList;

        while (s != null) {
          var _n11 = s._next;
          var tf1 = this._ptransform;
          var tf2 = this._transform;
          var dst = s._ptransform;
          var src1 = s._localTransform;

          var __tmp__00 = void 0;

          var __tmp__01 = void 0;

          var __tmp__02 = void 0;

          var __tmp__10 = void 0;

          var __tmp__11 = void 0;

          var __tmp__12 = void 0;

          var __tmp__20 = void 0;

          var __tmp__21 = void 0;

          var __tmp__22 = void 0;

          __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
          __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
          __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
          __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
          __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
          __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
          __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
          __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
          __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
          dst._rotation00 = __tmp__00;
          dst._rotation01 = __tmp__01;
          dst._rotation02 = __tmp__02;
          dst._rotation10 = __tmp__10;
          dst._rotation11 = __tmp__11;
          dst._rotation12 = __tmp__12;
          dst._rotation20 = __tmp__20;
          dst._rotation21 = __tmp__21;
          dst._rotation22 = __tmp__22;

          var __tmp__X = void 0;

          var __tmp__Y = void 0;

          var __tmp__Z = void 0;

          __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
          __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
          __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
          dst._positionX = __tmp__X;
          dst._positionY = __tmp__Y;
          dst._positionZ = __tmp__Z;
          dst._positionX += tf1._positionX;
          dst._positionY += tf1._positionY;
          dst._positionZ += tf1._positionZ;
          var dst1 = s._transform;
          var src11 = s._localTransform;

          var __tmp__001 = void 0;

          var __tmp__011 = void 0;

          var __tmp__021 = void 0;

          var __tmp__101 = void 0;

          var __tmp__111 = void 0;

          var __tmp__121 = void 0;

          var __tmp__201 = void 0;

          var __tmp__211 = void 0;

          var __tmp__221 = void 0;

          __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
          __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
          __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
          __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
          __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
          __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
          __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
          __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
          __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
          dst1._rotation00 = __tmp__001;
          dst1._rotation01 = __tmp__011;
          dst1._rotation02 = __tmp__021;
          dst1._rotation10 = __tmp__101;
          dst1._rotation11 = __tmp__111;
          dst1._rotation12 = __tmp__121;
          dst1._rotation20 = __tmp__201;
          dst1._rotation21 = __tmp__211;
          dst1._rotation22 = __tmp__221;

          var __tmp__X1 = void 0;

          var __tmp__Y1 = void 0;

          var __tmp__Z1 = void 0;

          __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
          __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
          __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
          dst1._positionX = __tmp__X1;
          dst1._positionY = __tmp__Y1;
          dst1._positionZ = __tmp__Z1;
          dst1._positionX += tf2._positionX;
          dst1._positionY += tf2._positionY;
          dst1._positionZ += tf2._positionZ;
          var minX = void 0;
          var minY = void 0;
          var minZ = void 0;
          var maxX = void 0;
          var maxY = void 0;
          var maxZ = void 0;

          s._geom._computeAabb(s._aabb, s._ptransform);

          minX = s._aabb._minX;
          minY = s._aabb._minY;
          minZ = s._aabb._minZ;
          maxX = s._aabb._maxX;
          maxY = s._aabb._maxY;
          maxZ = s._aabb._maxZ;

          s._geom._computeAabb(s._aabb, s._transform);

          s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
          s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
          s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
          s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
          s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
          s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

          if (s._proxy != null) {
            var dX = void 0;
            var dY = void 0;
            var dZ = void 0;
            dX = s._transform._positionX - s._ptransform._positionX;
            dY = s._transform._positionY - s._ptransform._positionY;
            dZ = s._transform._positionZ - s._ptransform._positionZ;
            var v = s.displacement;
            v.x = dX;
            v.y = dY;
            v.z = dZ;

            s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
          }

          s = _n11;
        }
      }
    }, {
      key: "getType",
      value: function getType() {
        return this._type;
      }
    }, {
      key: "setType",
      value: function setType(type) {
        this._type = type;
        this.updateMass();
      }
    }, {
      key: "wakeUp",
      value: function wakeUp() {
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "sleep",
      value: function sleep() {
        this._sleeping = true;
        this._sleepTime = 0;
      }
    }, {
      key: "isSleeping",
      value: function isSleeping() {
        return this._sleeping;
      }
    }, {
      key: "getSleepTime",
      value: function getSleepTime() {
        return this._sleepTime;
      }
    }, {
      key: "setAutoSleep",
      value: function setAutoSleep(autoSleepEnabled) {
        this._autoSleep = autoSleepEnabled;
        this._sleeping = false;
        this._sleepTime = 0;
      }
    }, {
      key: "getLinearDamping",
      value: function getLinearDamping() {
        return this._linearDamping;
      }
    }, {
      key: "setLinearDamping",
      value: function setLinearDamping(damping) {
        this._linearDamping = damping;
      }
    }, {
      key: "getAngularDamping",
      value: function getAngularDamping() {
        return this._angularDamping;
      }
    }, {
      key: "setAngularDamping",
      value: function setAngularDamping(damping) {
        this._angularDamping = damping;
      }
    }, {
      key: "getPrev",
      value: function getPrev() {
        return this._prev;
      }
    }, {
      key: "getNext",
      value: function getNext() {
        return this._next;
      }
    }]);

    return oimo_dynamics_rigidbody_RigidBody;
  }();

  oimo.dynamics.rigidbody.RigidBodyConfig = /*#__PURE__*/_createClass(function oimo_dynamics_rigidbody_RigidBodyConfig() {
    _classCallCheck(this, oimo_dynamics_rigidbody_RigidBodyConfig);

    this.position = new oimo.common.Vec3();
    this.rotation = new oimo.common.Mat3();
    this.linearVelocity = new oimo.common.Vec3();
    this.angularVelocity = new oimo.common.Vec3();
    this.type = 0;
    this.autoSleep = true;
    this.linearDamping = 0;
    this.angularDamping = 0;
  });
  oimo.dynamics.rigidbody.RigidBodyType = /*#__PURE__*/_createClass(function oimo_dynamics_rigidbody_RigidBodyType() {
    _classCallCheck(this, oimo_dynamics_rigidbody_RigidBodyType);
  });

  oimo.dynamics.rigidbody.Shape = /*#__PURE__*/function () {
    function oimo_dynamics_rigidbody_Shape(config) {
      _classCallCheck(this, oimo_dynamics_rigidbody_Shape);

      this._id = -1;
      this._localTransform = new oimo.common.Transform();
      this._ptransform = new oimo.common.Transform();
      this._transform = new oimo.common.Transform();
      var v = config.position;
      this._localTransform._positionX = v.x;
      this._localTransform._positionY = v.y;
      this._localTransform._positionZ = v.z;
      var m = config.rotation;
      this._localTransform._rotation00 = m.e00;
      this._localTransform._rotation01 = m.e01;
      this._localTransform._rotation02 = m.e02;
      this._localTransform._rotation10 = m.e10;
      this._localTransform._rotation11 = m.e11;
      this._localTransform._rotation12 = m.e12;
      this._localTransform._rotation20 = m.e20;
      this._localTransform._rotation21 = m.e21;
      this._localTransform._rotation22 = m.e22;
      var dst = this._ptransform;
      var src = this._localTransform;
      dst._positionX = src._positionX;
      dst._positionY = src._positionY;
      dst._positionZ = src._positionZ;
      dst._rotation00 = src._rotation00;
      dst._rotation01 = src._rotation01;
      dst._rotation02 = src._rotation02;
      dst._rotation10 = src._rotation10;
      dst._rotation11 = src._rotation11;
      dst._rotation12 = src._rotation12;
      dst._rotation20 = src._rotation20;
      dst._rotation21 = src._rotation21;
      dst._rotation22 = src._rotation22;
      var dst1 = this._transform;
      var src1 = this._localTransform;
      dst1._positionX = src1._positionX;
      dst1._positionY = src1._positionY;
      dst1._positionZ = src1._positionZ;
      dst1._rotation00 = src1._rotation00;
      dst1._rotation01 = src1._rotation01;
      dst1._rotation02 = src1._rotation02;
      dst1._rotation10 = src1._rotation10;
      dst1._rotation11 = src1._rotation11;
      dst1._rotation12 = src1._rotation12;
      dst1._rotation20 = src1._rotation20;
      dst1._rotation21 = src1._rotation21;
      dst1._rotation22 = src1._rotation22;
      this._restitution = config.restitution;
      this._friction = config.friction;
      this._density = config.density;
      this._geom = config.geometry;
      this._collisionGroup = config.collisionGroup;
      this._collisionMask = config.collisionMask;
      this._contactCallback = config.contactCallback;
      this._aabb = new oimo.collision.geometry.Aabb();
      this._proxy = null;
      this.displacement = new oimo.common.Vec3();
    }

    _createClass(oimo_dynamics_rigidbody_Shape, [{
      key: "getFriction",
      value: function getFriction() {
        return this._friction;
      }
    }, {
      key: "setFriction",
      value: function setFriction(friction) {
        this._friction = friction;
      }
    }, {
      key: "getRestitution",
      value: function getRestitution() {
        return this._restitution;
      }
    }, {
      key: "setRestitution",
      value: function setRestitution(restitution) {
        this._restitution = restitution;
      }
    }, {
      key: "getLocalTransform",
      value: function getLocalTransform() {
        var _this = this._localTransform;
        var tf = new oimo.common.Transform();
        tf._positionX = _this._positionX;
        tf._positionY = _this._positionY;
        tf._positionZ = _this._positionZ;
        tf._rotation00 = _this._rotation00;
        tf._rotation01 = _this._rotation01;
        tf._rotation02 = _this._rotation02;
        tf._rotation10 = _this._rotation10;
        tf._rotation11 = _this._rotation11;
        tf._rotation12 = _this._rotation12;
        tf._rotation20 = _this._rotation20;
        tf._rotation21 = _this._rotation21;
        tf._rotation22 = _this._rotation22;
        return tf;
      }
    }, {
      key: "getLocalTransformTo",
      value: function getLocalTransformTo(transform) {
        var transform1 = this._localTransform;
        transform._positionX = transform1._positionX;
        transform._positionY = transform1._positionY;
        transform._positionZ = transform1._positionZ;
        transform._rotation00 = transform1._rotation00;
        transform._rotation01 = transform1._rotation01;
        transform._rotation02 = transform1._rotation02;
        transform._rotation10 = transform1._rotation10;
        transform._rotation11 = transform1._rotation11;
        transform._rotation12 = transform1._rotation12;
        transform._rotation20 = transform1._rotation20;
        transform._rotation21 = transform1._rotation21;
        transform._rotation22 = transform1._rotation22;
      }
    }, {
      key: "getTransform",
      value: function getTransform() {
        var _this = this._transform;
        var tf = new oimo.common.Transform();
        tf._positionX = _this._positionX;
        tf._positionY = _this._positionY;
        tf._positionZ = _this._positionZ;
        tf._rotation00 = _this._rotation00;
        tf._rotation01 = _this._rotation01;
        tf._rotation02 = _this._rotation02;
        tf._rotation10 = _this._rotation10;
        tf._rotation11 = _this._rotation11;
        tf._rotation12 = _this._rotation12;
        tf._rotation20 = _this._rotation20;
        tf._rotation21 = _this._rotation21;
        tf._rotation22 = _this._rotation22;
        return tf;
      }
    }, {
      key: "getTransformTo",
      value: function getTransformTo(transform) {
        var transform1 = this._transform;
        transform._positionX = transform1._positionX;
        transform._positionY = transform1._positionY;
        transform._positionZ = transform1._positionZ;
        transform._rotation00 = transform1._rotation00;
        transform._rotation01 = transform1._rotation01;
        transform._rotation02 = transform1._rotation02;
        transform._rotation10 = transform1._rotation10;
        transform._rotation11 = transform1._rotation11;
        transform._rotation12 = transform1._rotation12;
        transform._rotation20 = transform1._rotation20;
        transform._rotation21 = transform1._rotation21;
        transform._rotation22 = transform1._rotation22;
      }
    }, {
      key: "setLocalTransform",
      value: function setLocalTransform(transform) {
        var _this = this._localTransform;
        _this._positionX = transform._positionX;
        _this._positionY = transform._positionY;
        _this._positionZ = transform._positionZ;
        _this._rotation00 = transform._rotation00;
        _this._rotation01 = transform._rotation01;
        _this._rotation02 = transform._rotation02;
        _this._rotation10 = transform._rotation10;
        _this._rotation11 = transform._rotation11;
        _this._rotation12 = transform._rotation12;
        _this._rotation20 = transform._rotation20;
        _this._rotation21 = transform._rotation21;
        _this._rotation22 = transform._rotation22;

        if (this._rigidBody != null) {
          var _this255 = this._rigidBody;

          _this255.updateMass();

          var s = _this255._shapeList;

          while (s != null) {
            var n = s._next;
            var tf1 = _this255._ptransform;
            var tf2 = _this255._transform;
            var dst = s._ptransform;
            var src1 = s._localTransform;

            var __tmp__00 = void 0;

            var __tmp__01 = void 0;

            var __tmp__02 = void 0;

            var __tmp__10 = void 0;

            var __tmp__11 = void 0;

            var __tmp__12 = void 0;

            var __tmp__20 = void 0;

            var __tmp__21 = void 0;

            var __tmp__22 = void 0;

            __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
            __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
            __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
            __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
            __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
            __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
            __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
            __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
            __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
            dst._rotation00 = __tmp__00;
            dst._rotation01 = __tmp__01;
            dst._rotation02 = __tmp__02;
            dst._rotation10 = __tmp__10;
            dst._rotation11 = __tmp__11;
            dst._rotation12 = __tmp__12;
            dst._rotation20 = __tmp__20;
            dst._rotation21 = __tmp__21;
            dst._rotation22 = __tmp__22;

            var __tmp__X = void 0;

            var __tmp__Y = void 0;

            var __tmp__Z = void 0;

            __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
            __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
            __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
            dst._positionX = __tmp__X;
            dst._positionY = __tmp__Y;
            dst._positionZ = __tmp__Z;
            dst._positionX += tf1._positionX;
            dst._positionY += tf1._positionY;
            dst._positionZ += tf1._positionZ;
            var dst1 = s._transform;
            var src11 = s._localTransform;

            var __tmp__001 = void 0;

            var __tmp__011 = void 0;

            var __tmp__021 = void 0;

            var __tmp__101 = void 0;

            var __tmp__111 = void 0;

            var __tmp__121 = void 0;

            var __tmp__201 = void 0;

            var __tmp__211 = void 0;

            var __tmp__221 = void 0;

            __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
            __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
            __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
            __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
            __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
            __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
            __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
            __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
            __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
            dst1._rotation00 = __tmp__001;
            dst1._rotation01 = __tmp__011;
            dst1._rotation02 = __tmp__021;
            dst1._rotation10 = __tmp__101;
            dst1._rotation11 = __tmp__111;
            dst1._rotation12 = __tmp__121;
            dst1._rotation20 = __tmp__201;
            dst1._rotation21 = __tmp__211;
            dst1._rotation22 = __tmp__221;

            var __tmp__X1 = void 0;

            var __tmp__Y1 = void 0;

            var __tmp__Z1 = void 0;

            __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
            __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
            __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
            dst1._positionX = __tmp__X1;
            dst1._positionY = __tmp__Y1;
            dst1._positionZ = __tmp__Z1;
            dst1._positionX += tf2._positionX;
            dst1._positionY += tf2._positionY;
            dst1._positionZ += tf2._positionZ;
            var minX = void 0;
            var minY = void 0;
            var minZ = void 0;
            var maxX = void 0;
            var maxY = void 0;
            var maxZ = void 0;

            s._geom._computeAabb(s._aabb, s._ptransform);

            minX = s._aabb._minX;
            minY = s._aabb._minY;
            minZ = s._aabb._minZ;
            maxX = s._aabb._maxX;
            maxY = s._aabb._maxY;
            maxZ = s._aabb._maxZ;

            s._geom._computeAabb(s._aabb, s._transform);

            s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
            s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
            s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
            s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
            s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
            s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

            if (s._proxy != null) {
              var dX = void 0;
              var dY = void 0;
              var dZ = void 0;
              dX = s._transform._positionX - s._ptransform._positionX;
              dY = s._transform._positionY - s._ptransform._positionY;
              dZ = s._transform._positionZ - s._ptransform._positionZ;
              var v = s.displacement;
              v.x = dX;
              v.y = dY;
              v.z = dZ;

              s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
            }

            s = n;
          }
        }
      }
    }, {
      key: "getDensity",
      value: function getDensity() {
        return this._density;
      }
    }, {
      key: "setDensity",
      value: function setDensity(density) {
        this._density = density;

        if (this._rigidBody != null) {
          var _this = this._rigidBody;

          _this.updateMass();

          var s = _this._shapeList;

          while (s != null) {
            var n = s._next;
            var tf1 = _this._ptransform;
            var tf2 = _this._transform;
            var dst = s._ptransform;
            var src1 = s._localTransform;

            var __tmp__00 = void 0;

            var __tmp__01 = void 0;

            var __tmp__02 = void 0;

            var __tmp__10 = void 0;

            var __tmp__11 = void 0;

            var __tmp__12 = void 0;

            var __tmp__20 = void 0;

            var __tmp__21 = void 0;

            var __tmp__22 = void 0;

            __tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
            __tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
            __tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
            __tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
            __tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
            __tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
            __tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
            __tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
            __tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
            dst._rotation00 = __tmp__00;
            dst._rotation01 = __tmp__01;
            dst._rotation02 = __tmp__02;
            dst._rotation10 = __tmp__10;
            dst._rotation11 = __tmp__11;
            dst._rotation12 = __tmp__12;
            dst._rotation20 = __tmp__20;
            dst._rotation21 = __tmp__21;
            dst._rotation22 = __tmp__22;

            var __tmp__X = void 0;

            var __tmp__Y = void 0;

            var __tmp__Z = void 0;

            __tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
            __tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
            __tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
            dst._positionX = __tmp__X;
            dst._positionY = __tmp__Y;
            dst._positionZ = __tmp__Z;
            dst._positionX += tf1._positionX;
            dst._positionY += tf1._positionY;
            dst._positionZ += tf1._positionZ;
            var dst1 = s._transform;
            var src11 = s._localTransform;

            var __tmp__001 = void 0;

            var __tmp__011 = void 0;

            var __tmp__021 = void 0;

            var __tmp__101 = void 0;

            var __tmp__111 = void 0;

            var __tmp__121 = void 0;

            var __tmp__201 = void 0;

            var __tmp__211 = void 0;

            var __tmp__221 = void 0;

            __tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
            __tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
            __tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
            __tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
            __tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
            __tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
            __tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
            __tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
            __tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
            dst1._rotation00 = __tmp__001;
            dst1._rotation01 = __tmp__011;
            dst1._rotation02 = __tmp__021;
            dst1._rotation10 = __tmp__101;
            dst1._rotation11 = __tmp__111;
            dst1._rotation12 = __tmp__121;
            dst1._rotation20 = __tmp__201;
            dst1._rotation21 = __tmp__211;
            dst1._rotation22 = __tmp__221;

            var __tmp__X1 = void 0;

            var __tmp__Y1 = void 0;

            var __tmp__Z1 = void 0;

            __tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
            __tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
            __tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
            dst1._positionX = __tmp__X1;
            dst1._positionY = __tmp__Y1;
            dst1._positionZ = __tmp__Z1;
            dst1._positionX += tf2._positionX;
            dst1._positionY += tf2._positionY;
            dst1._positionZ += tf2._positionZ;
            var minX = void 0;
            var minY = void 0;
            var minZ = void 0;
            var maxX = void 0;
            var maxY = void 0;
            var maxZ = void 0;

            s._geom._computeAabb(s._aabb, s._ptransform);

            minX = s._aabb._minX;
            minY = s._aabb._minY;
            minZ = s._aabb._minZ;
            maxX = s._aabb._maxX;
            maxY = s._aabb._maxY;
            maxZ = s._aabb._maxZ;

            s._geom._computeAabb(s._aabb, s._transform);

            s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
            s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
            s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
            s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
            s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
            s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;

            if (s._proxy != null) {
              var dX = void 0;
              var dY = void 0;
              var dZ = void 0;
              dX = s._transform._positionX - s._ptransform._positionX;
              dY = s._transform._positionY - s._ptransform._positionY;
              dZ = s._transform._positionZ - s._ptransform._positionZ;
              var v = s.displacement;
              v.x = dX;
              v.y = dY;
              v.z = dZ;

              s._rigidBody._world._broadPhase.moveProxy(s._proxy, s._aabb, s.displacement);
            }

            s = n;
          }
        }
      }
    }, {
      key: "getAabb",
      value: function getAabb() {
        return this._aabb.clone();
      }
    }, {
      key: "getAabbTo",
      value: function getAabbTo(aabb) {
        aabb.copyFrom(this._aabb);
      }
    }, {
      key: "getGeometry",
      value: function getGeometry() {
        return this._geom;
      }
    }, {
      key: "getRigidBody",
      value: function getRigidBody() {
        return this._rigidBody;
      }
    }, {
      key: "getCollisionGroup",
      value: function getCollisionGroup() {
        return this._collisionGroup;
      }
    }, {
      key: "setCollisionGroup",
      value: function setCollisionGroup(collisionGroup) {
        this._collisionGroup = collisionGroup;
      }
    }, {
      key: "getCollisionMask",
      value: function getCollisionMask() {
        return this._collisionMask;
      }
    }, {
      key: "setCollisionMask",
      value: function setCollisionMask(collisionMask) {
        this._collisionMask = collisionMask;
      }
    }, {
      key: "getContactCallback",
      value: function getContactCallback() {
        return this._contactCallback;
      }
    }, {
      key: "setContactCallback",
      value: function setContactCallback(callback) {
        this._contactCallback = callback;
      }
    }, {
      key: "getPrev",
      value: function getPrev() {
        return this._prev;
      }
    }, {
      key: "getNext",
      value: function getNext() {
        return this._next;
      }
    }]);

    return oimo_dynamics_rigidbody_Shape;
  }();

  oimo.dynamics.rigidbody.ShapeConfig = /*#__PURE__*/_createClass(function oimo_dynamics_rigidbody_ShapeConfig() {
    _classCallCheck(this, oimo_dynamics_rigidbody_ShapeConfig);

    this.position = new oimo.common.Vec3();
    this.rotation = new oimo.common.Mat3();
    this.friction = oimo.common.Setting.defaultFriction;
    this.restitution = oimo.common.Setting.defaultRestitution;
    this.density = oimo.common.Setting.defaultDensity;
    this.collisionGroup = oimo.common.Setting.defaultCollisionGroup;
    this.collisionMask = oimo.common.Setting.defaultCollisionMask;
    this.geometry = null;
    this.contactCallback = null;
  });
  if (!oimo.m) oimo.m = {};
  oimo.m.M = /*#__PURE__*/_createClass(function oimo_m_M() {
    _classCallCheck(this, oimo_m_M);
  });
  oimo.collision.broadphase.BroadPhaseType._BRUTE_FORCE = 1;
  oimo.collision.broadphase.BroadPhaseType._BVH = 2;
  oimo.collision.broadphase.BroadPhaseType.BRUTE_FORCE = 1;
  oimo.collision.broadphase.BroadPhaseType.BVH = 2;
  oimo.collision.broadphase.bvh.BvhInsertionStrategy.SIMPLE = 0;
  oimo.collision.broadphase.bvh.BvhInsertionStrategy.MINIMIZE_SURFACE_AREA = 1;
  oimo.collision.geometry.GeometryType._SPHERE = 0;
  oimo.collision.geometry.GeometryType._BOX = 1;
  oimo.collision.geometry.GeometryType._CYLINDER = 2;
  oimo.collision.geometry.GeometryType._CONE = 3;
  oimo.collision.geometry.GeometryType._CAPSULE = 4;
  oimo.collision.geometry.GeometryType._CONVEX_HULL = 5;
  oimo.collision.geometry.GeometryType._CONVEX_MIN = 0;
  oimo.collision.geometry.GeometryType._CONVEX_MAX = 5;
  oimo.collision.geometry.GeometryType.SPHERE = 0;
  oimo.collision.geometry.GeometryType.BOX = 1;
  oimo.collision.geometry.GeometryType.CYLINDER = 2;
  oimo.collision.geometry.GeometryType.CONE = 3;
  oimo.collision.geometry.GeometryType.CAPSULE = 4;
  oimo.collision.geometry.GeometryType.CONVEX_HULL = 5;
  oimo.collision.narrowphase.detector.BoxBoxDetector.EDGE_BIAS_MULT = 1.0;
  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.OK = 0;
  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.INVALID_TRIANGLE = 1;
  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.NO_ADJACENT_PAIR_INDEX = 2;
  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.NO_ADJACENT_TRIANGLE = 3;
  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.EDGE_LOOP_BROKEN = 4;
  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.NO_OUTER_TRIANGLE = 5;
  oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.TRIANGLE_INVISIBLE = 6;
  oimo.collision.narrowphase.detector.gjkepa.EpaTriangle.count = 0;
  oimo.common.Vec3.numCreations = 0;
  oimo.common.Setting.defaultFriction = 0.2;
  oimo.common.Setting.defaultRestitution = 0.2;
  oimo.common.Setting.defaultDensity = 1;
  oimo.common.Setting.defaultCollisionGroup = 1;
  oimo.common.Setting.defaultCollisionMask = 1;
  oimo.common.Setting.maxTranslationPerStep = 20;
  oimo.common.Setting.maxRotationPerStep = 3.14159265358979;
  oimo.common.Setting.bvhProxyPadding = 0.1;
  oimo.common.Setting.bvhIncrementalCollisionThreshold = 0.45;
  oimo.common.Setting.defaultGJKMargin = 0.05;
  oimo.common.Setting.enableGJKCaching = true;
  oimo.common.Setting.maxEPAVertices = 128;
  oimo.common.Setting.maxEPAPolyhedronFaces = 128;
  oimo.common.Setting.contactEnableBounceThreshold = 0.5;
  oimo.common.Setting.velocityBaumgarte = 0.2;
  oimo.common.Setting.positionSplitImpulseBaumgarte = 0.4;
  oimo.common.Setting.positionNgsBaumgarte = 1.0;
  oimo.common.Setting.contactUseAlternativePositionCorrectionAlgorithmDepthThreshold = 0.05;
  oimo.common.Setting.defaultContactPositionCorrectionAlgorithm = 0;
  oimo.common.Setting.alternativeContactPositionCorrectionAlgorithm = 1;
  oimo.common.Setting.contactPersistenceThreshold = 0.05;
  oimo.common.Setting.maxManifoldPoints = 4;
  oimo.common.Setting.defaultJointConstraintSolverType = 0;
  oimo.common.Setting.defaultJointPositionCorrectionAlgorithm = 0;
  oimo.common.Setting.jointWarmStartingFactorForBaungarte = 0.8;
  oimo.common.Setting.jointWarmStartingFactor = 0.95;
  oimo.common.Setting.minSpringDamperDampingRatio = 1e-6;
  oimo.common.Setting.minRagdollMaxSwingAngle = 1e-6;
  oimo.common.Setting.maxJacobianRows = 6;
  oimo.common.Setting.directMlcpSolverEps = 1e-9;
  oimo.common.Setting.islandInitialRigidBodyArraySize = 128;
  oimo.common.Setting.islandInitialConstraintArraySize = 128;
  oimo.common.Setting.sleepingVelocityThreshold = 0.2;
  oimo.common.Setting.sleepingAngularVelocityThreshold = 0.5;
  oimo.common.Setting.sleepingTimeThreshold = 1.0;
  oimo.common.Setting.disableSleeping = false;
  oimo.common.Setting.linearSlop = 0.005;
  oimo.common.Setting.angularSlop = 0.017453292519943278;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance = new oimo.collision.narrowphase.detector.gjkepa.GjkEpa();
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._SUCCEEDED = 0;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._GJK_FAILED_TO_MAKE_TETRAHEDRON = 1;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._GJK_DID_NOT_CONVERGE = 2;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._EPA_FAILED_TO_INIT = 257;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._EPA_FAILED_TO_ADD_VERTEX = 258;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._EPA_DID_NOT_CONVERGE = 259;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.SUCCEEDED = 0;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.GJK_FAILED_TO_MAKE_TETRAHEDRON = 1;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.GJK_DID_NOT_CONVERGE = 2;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_INIT = 257;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_ADD_VERTEX = 258;
  oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_DID_NOT_CONVERGE = 259;
  oimo.common.Mat3.numCreations = 0;
  oimo.common.Mat4.numCreations = 0;
  oimo.common.MathUtil.POSITIVE_INFINITY = 1e65536;
  oimo.common.MathUtil.NEGATIVE_INFINITY = -1e65536;
  oimo.common.MathUtil.PI = 3.14159265358979;
  oimo.common.MathUtil.TWO_PI = 6.28318530717958;
  oimo.common.MathUtil.HALF_PI = 1.570796326794895;
  oimo.common.MathUtil.TO_RADIANS = 0.017453292519943278;
  oimo.common.MathUtil.TO_DEGREES = 57.29577951308238;
  oimo.common.Quat.numCreations = 0;
  oimo.dynamics.common.DebugDraw.SPHERE_PHI_DIVISION = 8;
  oimo.dynamics.common.DebugDraw.SPHERE_THETA_DIVISION = 4;
  oimo.dynamics.common.DebugDraw.CIRCLE_THETA_DIVISION = 8;
  oimo.dynamics.common.Performance.broadPhaseCollisionTime = 0;
  oimo.dynamics.common.Performance.narrowPhaseCollisionTime = 0;
  oimo.dynamics.common.Performance.dynamicsTime = 0;
  oimo.dynamics.common.Performance.totalTime = 0;
  oimo.dynamics.constraint.PositionCorrectionAlgorithm._BAUMGARTE = 0;
  oimo.dynamics.constraint.PositionCorrectionAlgorithm._SPLIT_IMPULSE = 1;
  oimo.dynamics.constraint.PositionCorrectionAlgorithm._NGS = 2;
  oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE = 0;
  oimo.dynamics.constraint.PositionCorrectionAlgorithm.SPLIT_IMPULSE = 1;
  oimo.dynamics.constraint.PositionCorrectionAlgorithm.NGS = 2;
  oimo.dynamics.constraint.info.JacobianRow.BIT_LINEAR_SET = 1;
  oimo.dynamics.constraint.info.JacobianRow.BIT_ANGULAR_SET = 2;
  oimo.dynamics.constraint.joint.JointType._SPHERICAL = 0;
  oimo.dynamics.constraint.joint.JointType._REVOLUTE = 1;
  oimo.dynamics.constraint.joint.JointType._CYLINDRICAL = 2;
  oimo.dynamics.constraint.joint.JointType._PRISMATIC = 3;
  oimo.dynamics.constraint.joint.JointType._UNIVERSAL = 4;
  oimo.dynamics.constraint.joint.JointType._RAGDOLL = 5;
  oimo.dynamics.constraint.joint.JointType._GENERIC = 6;
  oimo.dynamics.constraint.joint.JointType.SPHERICAL = 0;
  oimo.dynamics.constraint.joint.JointType.REVOLUTE = 1;
  oimo.dynamics.constraint.joint.JointType.CYLINDRICAL = 2;
  oimo.dynamics.constraint.joint.JointType.PRISMATIC = 3;
  oimo.dynamics.constraint.joint.JointType.UNIVERSAL = 4;
  oimo.dynamics.constraint.joint.JointType.RAGDOLL = 5;
  oimo.dynamics.constraint.joint.JointType.GENERIC = 6;
  oimo.dynamics.constraint.solver.ConstraintSolverType._ITERATIVE = 0;
  oimo.dynamics.constraint.solver.ConstraintSolverType._DIRECT = 1;
  oimo.dynamics.constraint.solver.ConstraintSolverType.ITERATIVE = 0;
  oimo.dynamics.constraint.solver.ConstraintSolverType.DIRECT = 1;
  oimo.dynamics.rigidbody.RigidBodyType._DYNAMIC = 0;
  oimo.dynamics.rigidbody.RigidBodyType._STATIC = 1;
  oimo.dynamics.rigidbody.RigidBodyType._KINEMATIC = 2;
  oimo.dynamics.rigidbody.RigidBodyType.DYNAMIC = 0;
  oimo.dynamics.rigidbody.RigidBodyType.STATIC = 1;
  oimo.dynamics.rigidbody.RigidBodyType.KINEMATIC = 2;
});